Towards optimal hybrid control solutions for gait patterns of a quadruped

摘要

We consider the problem of finding optimal gaits for a quadruped robot. Paths are sought which minimize the actuation energy required for walking in an attempt to approximate natural motion. The number of possible gaits for a quadruped is quite large when one considers varied orders of leg motion, different liftoff times, and various ground contact combinations for the legs. The problem is treated as a fully nonlinear optimal hybrid path planning problem on a 22dimensional state space. Modeling aspects, our numerical approach, and experimental results are discussed in this paper. 1 INTRODUCTION Hybrid control problems referring to systems containing both continuous and discrete dynamics have received much interest over the past few years (3, 8, 12, 13). They are especially challenging as they may contain switching dynamics at arbitrary times caused by a discrete control input or when the state reaches physical boundaries. Discontinuities in the state are often the result. Nonlinear f...