Optimal powering schemes for legged robotics

Paul Muench; David Bednarz; Gregory P. Czerniak; Ka C Cheok

doi:10.1117/12.851156

7 May 2010 Optimal powering schemes for legged robotics

Paul Muench, David Bednarz, Gregory P. Czerniak, Ka C Cheok

Proceedings Volume 7692, Unmanned Systems Technology XII; 769214 (2010) https://doi.org/10.1117/12.851156
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

Legged Robots have tremendous mobility, but they can also be very inefficient. These inefficiencies can be due to suboptimal control schemes, among other things. If your goal is to get from point A to point B in the least amount of time, your control scheme will be different from if your goal is to get there using the least amount of energy. In this paper, we seek a balance between these extremes by looking at both efficiency and speed. We model a walking robot as a rimless wheel, and, using Pontryagin's Maximum Principle (PMP), we find an "on-off" control for the model, and describe the switching curve between these control extremes.

Citation Download Citation

Paul Muench, David Bednarz, Gregory P. Czerniak, and Ka C Cheok "Optimal powering schemes for legged robotics", Proc. SPIE 7692, Unmanned Systems Technology XII, 769214 (7 May 2010); https://doi.org/10.1117/12.851156

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available