2024-03-29T10:10:17Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00007811
2023-01-16T03:53:21Z
320:321:322
Gait Generation for Passive Running via Iterative Learning Control
Satoh, Satoshi
Fujimoto, Kenji
Hyon, Sang-Ho
open access
This paper proposes a novel framework to generate optimal passive gait trajectories for a planar one-legged hopping robot via iterative learning control. The proposed method utilizes variational symmetry of the plant model in executing the steepest decent method in the learning algorithm. This allows one to obtain solutions of a class of optimal control problems without using precise knowledge of the plant model. Furthermore, its application to a hopping robot produces a passive running gait trajectory with zero input. Some numerical examples demonstrate the effectiveness of the proposed method.
IEEE
2006
eng
journal article
VoR
http://hdl.handle.net/2237/9532
https://nagoya.repo.nii.ac.jp/records/7811
https://doi.org/10.1109/IROS.2006.282471
1-4244-0259-X
IEEE/RSJ International Conference on Intelligent Robots and Systems
5907
5912
https://nagoya.repo.nii.ac.jp/record/7811/files/fujimoto_3.pdf
application/pdf
198.3 kB
2018-02-19