Actuator design of compliant walkers via optimal control

@article{Buondonno2017ActuatorDO,
  title={Actuator design of compliant walkers via optimal control},
  author={Gabriele Buondonno and Justin Carpentier and Guilhem Saurel and Nicolas Mansard and Alessandro De Luca and Jean-Paul Laumond},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={705-711}
}
We present an optimization framework for the design and analysis of underactuated biped walkers, characterized by passive or actuated joints with rigid or non-negligible elastic actuation/transmission elements. The framework is based on optimal control, dealing with geometric constraints and various dynamic objective functions, as well as boundary conditions, which helps in selecting optimal values both for the actuation and the transmission parameters. Solutions of the formulated problems are… CONTINUE READING

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