Discrete Mechanics and Optimal Control
Applied to the Compass
Gait Biped
Pekarek D., A. D. Ames, and J. E. Marsden
46th IEEE Conference on Decision and Control, New Orleans, LA, USA. (2007) 5376-5382
Abstract:
This paper presents a methodology for generating locally optimal
control policies for simple hybrid mechanical systems, and
illustrates the method on the compass gait biped. Principles from
discrete mechanics are utilized to generate optimal control policies as solutions
of constrained nonlinear optimization problems. In the context of bipedal walking,
this procedure provides a comparative measure of the suboptimality of existing
control policies. Furthermore, our methodology can be
used as a control design tool; to demonstrate this,
we minimize the specific cost of transport of periodic
orbits for the compass gait biped, both in the fully actuated and
underactuated case.