Abstract
It paid attention to that the stepping over excess of the obstacle by the biped robot can be expressed by HDS (Hybrid Dynamical System) because it was classified into a continuous and discrete event. HDS was made to return to optimal control problem after it had expressed by MLDS (Mixed Logical Dynamical Systems) in consideration of various constraint conditions. In a general ZMP (Zero Momento Point) control, because it is necessary to consider the constraint condition and the optimality separately, it complicates by coexistence of two or more control theories. On the other hand, the stepping over excess of the obstacle with biped robot based on the hybrid control can systematically achieve optimum control because it can treat them in the same way. In this paper, it was shown that the stepping over excess of the obstacle with biped robot was able to return in optimal control problem, and the effect was confirmed by the simulation work.
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.
