Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 54th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : T122
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Host: Institute of Systems, Control and Information Engineers

Discrete Gait Generation for the Compass-Type Biped Robot Modeled by Discrete Mechanics
*Tatsuya Kai, Takeshi Shintani
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Keywords: Discrete Mechanics, the Compass-Type Biped Robot, Gait Generation, Sequential Quadratic Programming
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Abstract
In this presentation, we consider a discrete gait generation method for the compass-type biped robot modeled by discrete mechanics. First, we derive the discrete compass-type biped robot model. Next, we define an optimal control problem on discrete gait generation and explain a sequential quadratic programming approach. A simulation is also illustrated to confirm the effectiveness of our method.
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© 2010 The Institute of Systems, Control and Information Engineers
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