Control- & Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming.
Youngwoo SimGuillermo ColinJoao RamosPublished in: Humanoids (2023)
Keyphrases
- optimal design
- integer linear programming
- legged robots
- inverted pendulum
- legged locomotion
- mobile robot
- column generation
- quadruped robot
- control algorithm
- global constraints
- robotic systems
- fuzzy controller
- feedback control
- simulation study
- control system
- control method
- optimal control
- initial conditions
- intelligent control
- linear programming
- dynamic programming