Motion Control of Biped Robot Based onParametric Optimum
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Graphical Abstract
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Abstract
According to the complexity of optimal
control for the process of falling motion, a method based
on parametric control and the enhancing technique is pre-
sented. The piece-wise constant value is used to approach
the optimal solution of optimal control problem. More-
over, the optimal parameters can be calculated by using
the common mathematical programming. Numerical re-
sults are presented for illustration and experiments are
carried out on real robots.
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