Abstract
AbstractIn this paper, we consider a new approach based on discrete mechanics to a gait generation problem for the compass-type biped robot. First, both continuous-time and discrete-time models of the compass-type biped robot are derived. We next formulate a discrete gait generation problem for the discrete compass-type biped robot as a finite dimensional nonlinear optimal control problem, and solve it by using the sequential quadratic programming. Then, we propose a transformation method of a discrete-time input into continuous one and apply it to gait generation for the continuous compass-type biped robot. Some simulations are also shown in order to verify the effectiveness of our approach.
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