Asymptotic solution method for a quasilinear minimum force control problem

2012 ◽  
Vol 48 (3) ◽  
pp. 419-429
Author(s):  
A. I. Kalinin
Keyword(s):  
Asymptotic Solution ◽  
Control Problem ◽  
Force Control ◽  
Solution Method ◽  
Asymptotic Solution Method ◽  
Minimum Force

scholarly journals Walking Without Impacts as a Motion/Force Control Problem

1992 ◽  
Vol 114 (4) ◽  
pp. 660-665 ◽  
Author(s):  
W. Blajer ◽  
W. Schiehlen
Keyword(s):  
Control Problem ◽  
Force Control ◽  
Numerical Results ◽  
Bipedal Walking ◽  
Motion Simulation ◽  
Bipedal Robot ◽  
Combined Motion ◽  
Ground Reactions

The paper deals with the synthesis of control for impactless bipedal walking. In order to avoid impacts, both the specified motion of the biped and its ground reactions are controlled, yielding a combined motion and force control problem. A method for modeling and solving such problems is proposed, and then illustrated by the example of an impactless planar walk of a seven-link bipedal robot. Some numerical results of the motion simulation are reported.

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