An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits.
Nelson Rosa Jr.Bassel KatamishMaximilian RaffC. David RemyPublished in: CoRR (2023)
Keyphrases
- legged robots
- walking speed
- human gait
- humanoid robot
- mechanical systems
- sagittal plane
- limit cycle
- gait recognition
- worst case
- feedback controller
- steady state
- dynamic programming
- control scheme
- optimal design
- feature selection
- feedback control
- optimal control
- dynamic environments
- reference trajectory
- optimal solution