ROMANSY 11 pp 133-140 | Cite as

On Direct-Search Optimization of Biped Walking

  • P. Kiriazov
  • W. Schiehlen
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


Employing a set of appropriate test control functions, the optimal control synthesis task is transformed into a series of control parameter optimization problems. The direct-search optimization procedure was verified on the dynamic model of a five-link anthropomorphic walking mechanism. The structure and the shapes of the synthesized control and state functions are similar to those of the humans. The numerical results show very efficient energy-loss minimization which means that the so-called synergism with the human bipeds, can be obtained with the controlled walking machines, too.


Control Synthesis Feedforward Control Biped Walking Biped Locomotion Legged Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • P. Kiriazov
    • 1
  • W. Schiehlen
    • 2
  1. 1.Institute of MechanicsSofiaBulgaria
  2. 2.University of StuttgartStuttgartGermany

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