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Optimal Protraction of a Three-Joint Robot Leg

作     者:Mustafa Suphi Erden Kemal Leblebicioğlu 

作者机构:BioMechanical Engineering Intelligent Mechanical Systems Group Delft university of Technology Delft 2628 CD The Netherlands (Tel: +31 (0)15 27 86794 Department of Electrical & Electronics Engineering Computer Vision and Intelligent Systems Research Laboratory Middle East Technical University Ankara 06531 Turkey (Tel: +90 (0)312 210 4558 

出 版 物:《IFAC Proceedings Volumes》 

年 卷 期:2008年第41卷第2期

页      面:1703-1710页

摘      要:In this paper protraction movement, namely stepping ahead, of a three joint robot leg is optimized for energy efficiency for any given pair of initial-final tip point positions. For the optimization a modified version of gradient descent based optimal control algorithm with Hamiltonian formulation is used. The objective function is modified in steps to jump over the infeasible and inefficient local optimums. The results of 79 optimizations are used to construct a radial basis function neural network (RBFNN) in order to interpolate between the optimized trajectories. The results are presented and discussed in the paper.

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