USING OPTIMIZATION TECHNIQUES FOR THE DESIGN AND CONTROL OF FAST BIPEDS

摘要

Fast, dynamic or energy efficient locomotion of bipeds is still an unsolved problem in robotics. Nature seems to have solved many of the arising difficulties in thousands of years of evolution, optimizing both mechanics and control along the way. This paper proposes to use techniques from numerical optimization and optimal control combined with behavior-based control concepts to address some of the problems when designing and controlling two-legged robots. Results from the optimization process will affect both the mechanical construction and the control strategies. Keywords: Optimal Control, Behaviour-based Control, Bipeds. 1.