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Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped

Summary: Discrete Mechanics and Optimal Control
Applied to the Compass Gait Biped
David Pekarek, Aaron D. Ames, and Jerrold E. Marsden
Abstract-- This paper presents a methodology for generating
locally optimal control policies for simple hybrid mechanical
systems, and illustrates the method on the compass gait biped.
Principles from discrete mechanics are utilized to generate
optimal control policies as solutions of constrained nonlinear
optimization problems. In the context of bipedal walking, this
procedure provides a comparative measure of the suboptimality
of existing control policies. Furthermore, our methodology
can be used as a control design tool; to demonstrate this,
we minimize the specific cost of transport of periodic orbits
for the compass gait biped, both in the fully actuated and
underactuated case.
The compass gait biped is a two-dimensional bipedal
robot that is simple enough to be amendable to analysis, yet
complex enough display a wealth of interesting phenomena.
Most notably, this model exhibits stable passive gaits on


Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University
Marsden, Jerrold - Control and Dynamical Systems Program, Division of Engineering and Applied Science, California Institute of Technology


Collections: Engineering