© The Institution of Engineering and Technology
Presented is a novel approach for online trajectory modification of joint motions to transfer a free open kinematic chain, undergoing flight phase, from a specified initial configuration to a specified final configuration. Formally, it is assumed that a nominal trajectory, computed offline, can reorient the kinematic chain (reconfiguration problem) for a given angular momentum on a time interval. A modification algorithm of body joints, based on optimal control, is developed such that for different angular momentums and time intervals, the same reconfiguration problem can be solved online. This approach can be utilised for space robotics applications and online computation of planar running trajectories during flight phases.
References
-
-
1)
-
N. Sadati ,
G.A. Dumont ,
K. Akbari Hamed ,
W.A. Gruver
.
Two-level control scheme for stabilisation of periodic orbits for planar monopedal running.
IET Control Theory Applications
,
13 ,
1528 -
1543
-
2)
-
M. Athans ,
P.L. Falb
.
(1966)
Optimal control: an introduction to the theory and its applications.
-
3)
-
E.R. Westervelt ,
J.W. Grizzle ,
C. Chevallereau ,
J.H. Choi ,
B. Morris
.
(2007)
Feedback control of dynamic bipedal robot locomotion.
-
4)
-
A.F. Filippov
.
(1988)
Differential equations with discontinuous righthand sides.
-
5)
-
J.W. Grizzle ,
G. Abba ,
F. Plestan
.
Asymptotically stable walking for biped robots: analysis via systems with impulse effects.
IEEE Trans. Autom. Control
,
51 -
64
-
6)
-
D.E. Kirk
.
(1970)
Optimal control theory: an introduction.
http://iet.metastore.ingenta.com/content/journals/10.1049/el.2011.1712
Related content
content/journals/10.1049/el.2011.1712
pub_keyword,iet_inspecKeyword,pub_concept
6
6