Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization.
Ayonga HereidShishir KolathayaAaron D. AmesPublished in: CDC (2016)
Keyphrases
- optimal design
- optimal selection
- approximately optimal
- joint optimization
- mobile robot
- optimization algorithm
- global optimization
- dynamic programming
- online learning
- finding optimal
- optimization problems
- cooperative
- differential equations
- multi robot
- real time
- max min
- simultaneous optimization
- multiple robots
- human gait recognition
- quadruped robot
- optimization process
- robot control
- generation process
- autonomous robots
- constrained optimization
- evolutionary algorithm
- optimal solution
- reinforcement learning
- genetic algorithm
- neural network