Abstract
This paper considers an obstacle avoidance control problem for the compass-type biped robot, especially circular obstacles are dealt with. First, a sufficient condition such that the swing leg does not collide the circular obstacle is derived. Next, an optimal control problem for the discrete compass-type robot is formulated and a solving method of the problem by the sequential quadratic programming is presented in order to calculate a discrete control input. Then, a transformation method that converts a discrete control input into a continuous zero-order hold input via discrete Lagrange-d’ Alembert principle is explained. From the results of numerical simulations, it turns out that obstacle avoidance control for the continuous compass-type robot can be achieved by the proposed method.
Highlights
Humanoid robots have been energetically researched in the fields of robotics and control theory so far
How to cite this paper: Kai, T. (2015) Circular Obstacle Avoidance Control of the Compass-Type Biped Robot Based on a Blending Method of Discrete Mechanics and Nonlinear Optimization
Problem 2: For the discrete compass-type biped robot (DCBR) (18)-(23), we find a sequence of the control input uk such that the swing leg of the Discrete Compass-Type Biped Robot (DCBR) lands at a reference grounding point P with avoiding collision with a circular obstacle Co
Summary
Humanoid robots have been energetically researched in the fields of robotics and control theory so far. (2015) Circular Obstacle Avoidance Control of the Compass-Type Biped Robot Based on a Blending Method of Discrete Mechanics and Nonlinear Optimization. In [16]-[19], the authors have studied gait generation problems for the compass-type biped robot based on discrete mechanics, which is a new discretizing tool for nonlinear mechanical systems and is derived by discretization of basic principles and equations of classical mechanics [20]-[23]. We deal with an obstacle avoidance control problem for the compass-type biped robot via discrete mechanics.
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