Abstract
In this paper, we develop a discrete mechanics approach to gait generation on slopes for the compass-type biped robot. We formulate a optimal gait generation problem for the discrete compass-type robot and show a solving method of it by the sequential quadratic programming to calculate a discrete control input. Then, we propose a transformation method from a discrete control input into a continuous zero-order hold input based on discrete Lagrange-d'Alembert principle. As a result of numerical simulations, it is confirmed that stable gaits on both downward and upward slopes can be generated for the continuous compass-type robot by the proposed method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
