A Novel Superlinearly Convergent Trust Region-Sequential Quadratic Programming Approach for Optimal Gait of Bipedal Robots Via Nonlinear Model Predictive Control-Reference-Cited by-同舟云学术

A Novel Superlinearly Convergent Trust Region-Sequential Quadratic Programming Approach for Optimal Gait of Bipedal Robots Via Nonlinear Model Predictive Control

Published:2020-03-16 Issue:2 Volume:100 Page:401-416
ISSN:0921-0296
Container-title:Journal of Intelligent & Robotic Systems
language:en
Short-container-title:J Intell Robot Syst

Author:

Sun Zhongbo^ORCID,Zhang Bangcheng,Sun Yingyi,Pang Zaixiang,Cheng Chao

Funder

National Natural Science Foundation of China

China Postdoctoral Science Foundation Funded Project

Key Science and Technology Projects of Jilin Province

Industrial Innovation Special Funds Project of Jilin Province

Jilin Engineering Laboratory for 418 Intelligence Robot and Visual Measurement Technology

Publisher

Springer Science and Business Media LLC

Subject

Electrical and Electronic Engineering,Artificial Intelligence,Industrial and Manufacturing Engineering,Mechanical Engineering,Control and Systems Engineering,Software

Link

http://link.springer.com/content/pdf/10.1007/s10846-020-01174-4.pdf

Reference51 articles.

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3. Grizzle, J.W., Abba, G., Plestan, F.: Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans. Autom. Cont. 46, 51–64 (2001)

4. Sreenath, K., Park, H.W., Poulakakis, I., Grizzle, J.W.: A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL. Int. J. Robot. Res. 30, 1170–1193 (2011)

5. Ames, A.D., Galloway, K., Sreenath, K., Grizzle, J.W.: Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics. IEEE Trans. Autom. Cont. 59, 876–891 (2014)

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