Variational Analysis and Sequential Quadratic Programming Approach for Robotics

作     者：Ankit R Patel Mahesh A Patel Dhaval R Vyas 

作者机构：Assistant Professor Department of Electrical Engineering L C Institute of TechnologyBhandu Mahesana Gujarat India 

出 版 物：《Procedia Technology》 (科技会议集)

年 卷 期：2012年第4卷

页      面：636-640页

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

主　　题：Optimal Control Optimization Lagrangian and Hamiltonian Mechanics Robotics Sequential Quadratic Programming 

摘      要：Sequential quadratic programming (SQP) methods are widely used for solving practical optimization problems, especially in contact mechanics. The general structure of SQP methods is briefly introduced and it is shown how these methods can be adapted to field of Robotics, especially bipedal robot. Numerical results are presented for compass bipedal robot. This paper describes relationship between variational analysis and sequential quadratic programming using discrete mechanics and optimal control for bipedal robot.