Abstract
As a consequence of physical constraints and of dynamical nonlinearities of the limbs, optimal control problems involving mobile robots with legs are generally difficult ones. Minimum energy problems subject to both equality and inequality constraints are generally intricate ones to be solved using classical methods. In this paper we propose and prove the convergence of a new algorithm to solve a minimum energy problem in motion of mobile robots using a Quadratic Programming approach. The results of the application of the algorithm to a robotic platform are shown.
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