Lecture Notes in Control and Information Sciences : Optimization and Feedback Control - Moritz Diehl

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Lecture Notes in Control and Information Sciences

Optimization and Feedback Control

By: Moritz Diehl (Editor), Katja Mombaur (Editor)

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Paperback | 20 September 2006

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468 Pages

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In the past decades, much progress has been made in the ?eld of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level. In order to address this challenge, we invited an interdisciplinary com- nity of researchers from robotics, biomechanics, control engineering and - pliedmathematicstocometogetherinHeidelbergatthe?rstRuperto-Carola- Symposium "Fast Motions in Biomechanics and Robotics - Optimization & Feedback Control" which was held at the International Science Forum (IWH) on September 7-9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.

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From the contents Re-injecting the structure in NMPC schemes
Recent Advances on the Algorithmic Optimization of Robot Motion
A Spring Assisted One Degree of Freedom Climbing Model
Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
Stability analysis of bipedal walking with control or monitoring of the center of pressure
Multi-Locomotion Control of Biped Locomotion and Brachiation Robot
On the determination of the basin of attraction for stationary and periodic movements
Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion
Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits
Actuation System and Control Concept for a Running Biped
Dynamical synthesis of a walking cyclic gait for a biped with point feet
Performing Open-Loop Stable Flip-Flops
An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions
Achieving Bipedal Running with RABBIT: Six Steps toward Infinity
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Lecture Notes in Control and Information Sciences

Optimization and Feedback Control

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