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General Information
    • ISSN: 2301-3559
    • Frequency: Quarterly
    • DOI: 10.18178/LNSE
    • Editor-in-Chief: Prof. Jemal Antidze
    • Executive Editor: Ms. Nina Lee
    • Abstracting/ Indexing: EI (INSPEC, IET), DOAJ, Electronic Journals Library, Engineering & Technology Digital Library, Ulrich's Periodicals Directory, International Computer Science Digital Library (ICSDL), ProQuest and Google Scholar.
    • E-mail: lnse@ejournal.net
Editor-in-chief
Prof. Jemal Antidze
I. Vekua Scientific Institute of Applied Mathematics
Tbilisi State University, Georgia
I'm happy to take on the position of editor in chief of LNSE. We encourage authors to submit papers concerning any branch of Software Engineering.

LNSE 2013 Vol.1(3): 237-243 ISSN: 2301-3559
DOI: 10.7763/LNSE.2013.V1.52

On the Dynamic Optimization of Biped Robot

Hayder F. N. Al-Shuka, Burkhard J. Corves, and Wen-Hong Zhu
Abstract—This paper concentrates on three important points: the selection of the suitable direct method used for suboptimal control of the biped robot, the selection of the appropriate nonlinear programming (NLP) algorithm that searches for the global minimum rather than the local minimum, and the effect of different constraints on the energy of the biped robot. To perform the mentioned points, the advantages and disadvantages of the optimal control methods were illustrated. The inverse-dynamics based optimization is preferred because of the ability to convert the original optimal control into algebraic equations which are easy to deal with. The inverse-dynamics-based optimization was classified as spline and the finite difference based optimization. Due to the easy use of the latter, it was used for investigating seven cases with different constraints for 6-DOF biped robot during the single support phase (SSP). Hybrid genetic-sequential quadratic programming (GA-SQP) was used for simulation of the target robot with MATLAB. It can be concluded that more imposed constraints on the biped robot, more energy is needed. In general, more energy can be required in the case of (1) restriction of the swing foot to be level to the ground and (2) reducing the hip height or constraining the hip to move in constant height.

Index Terms—Biped robot, dynamic optimization suboptimal control, walking patterns.

Hayder F. N. Al-Shuka and B. J. Corves are with Department of Mechanism and Machine Dynamics, Aachen, Germany (e-mail: hayder.alshuka@ rwth-aachen.de).
Wen-Hong Zhu is with the Canadian Space Agency, Canada (e-mail: Wen-Hong.Zhu@asc-csa.gc.ca)

[PDF]

Cite: Hayder F. N. Al-Shuka, Burkhard J. Corves, and Wen-Hong Zhu, "On the Dynamic Optimization of Biped Robot," Lecture Notes on Software Engineering vol. 1, no. 3, pp. 237-243, 2013.

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