Yizhen, Wei
Abstract
The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem.更多还原
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The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem.更多还原
Key concepts: Piecewise, Constant (computer programming), Robot, Control theory (sociology), Constant function, Gait, Mathematical optimization, Computer science