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Structure Preserving Optimal Control of Three-Dimensional Compass Gait

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Modeling, Simulation and Optimization of Bipedal Walking

Part of the book series: Cognitive Systems Monographs ((COSMOS,volume 18))

Abstract

The benefits of structure preserving algorithms for the numerical time-integration of mechanical systems, also called mechanical integrators, are widely accepted in forward dynamic simulations. However, in the field of motion planning and optimal control via direct methods, so far, these benefits have been less used. The dynamic optimisation method DMOC, does exploit the structure preserving properties of a variational integrator within an optimal control problem. This work considers the optimal control of a bipedal compass gait by modeling the double stance configuration as a transfer of contact constraints between the feet and the ground and develops a structure preserving simulation method for this context.

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Author information

Authors and Affiliations

  1. University of Erlangen-Nuremberg, Konrad-Zuse-Strraße 3/5, 91052, Erlangen, Germany

    Sigrid Leyendecker

  2. Northwestern University, 2145 Sheridan Road, Evanston, IL, 60208, USA

    David Pekarek

  3. California Institute of Technology, 1200 E. California Boulevard, Pasadena, CA, 91125, USA

    Jerrold E. Marsden

Authors
  1. Sigrid Leyendecker
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  2. David Pekarek
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  3. Jerrold E. Marsden
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Corresponding author

Correspondence to Sigrid Leyendecker .

Editor information

Editors and Affiliations

  1. Interdisziplinäres Zentrum, Universität Heidelberg, 7 ave du, Colonel Roche, Heidelberg, 31077, Germany

    Katja Mombaur

  2. FB Informatik, AG Robotersysteme, TU Kaiserslautern, Kaiserslautern, Germany

    Karsten Berns

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Leyendecker, S., Pekarek, D., Marsden, J.E. (2013). Structure Preserving Optimal Control of Three-Dimensional Compass Gait. In: Mombaur, K., Berns, K. (eds) Modeling, Simulation and Optimization of Bipedal Walking. Cognitive Systems Monographs, vol 18. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36368-9_8

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  • DOI: https://doi.org/10.1007/978-3-642-36368-9_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-36367-2

  • Online ISBN: 978-3-642-36368-9

  • eBook Packages: EngineeringEngineering (R0)

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