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首页> 外文期刊>Optimal Control Applications and Methods >A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control
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A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control

机译：基于离散力学和最优控制的双足动态步行机器人超线性收敛可行序列二次规划算法。

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摘要

For periodic gait optimization problem of the bipedal walking robot, a class of global and feasible sequential quadratic programming algorithm (FSQPA) is proposed based on discrete mechanics and optimal control. The optimal controls and trajectories are solved by the modified FSQPA. The algorithm can rapidly converge to a stable gait cycle by selecting an appropriate initial gait; otherwise, the algorithm only needs one step correction that generates a stable gait cycle. Under appropriate conditions, we provide a rigorous proof of global convergence and well-defined properties for the FSQPA. Numerical results show that the algorithm is feasible and effective. Meanwhile, it reveals the movement mechanism in the process of bipedal dynamic walking, which is the velocity oscillations. Furthermore, we overcome the oscillatory behavior via the FSQPA, which makes the bipedal robot walk efficiently and stably on even terrain. The main result is illustrated on a hybrid model of a compass-like robot through simulations and is utilized to achieve bipedal locomotion via FSQPA. To demonstrate the effectiveness of the high-dimensional bipedal robot systems, we will conduct numerical simulations on the model of RABBIT with nonlinear, hybrid, and underactuated dynamics. Numerical simulation results show that the FSQPA is feasible and effective. Copyright (c) 2015 John Wiley & Sons, Ltd.
机译：针对双足步行机器人的周期性步态优化问题，提出了一种基于离散力学和最优控制的全局可行序贯二次规划算法（FSQPA）。改进的FSQPA解决了最佳控制和轨迹。通过选择合适的初始步态，该算法可以迅速收敛到稳定的步态周期。否则，该算法只需一步校正即可产生稳定的步态周期。在适当的条件下，我们为FSQPA提供了全球收敛性和明确定义的属性的严格证明。数值结果表明该算法是可行和有效的。同时揭示了双足动态行走过程中的运动机理，即速度振荡。此外，我们通过FSQPA克服了振荡行为，这使双足机器人可以在平坦地形上高效稳定地行走。主要结果通过模拟在罗盘式机器人的混合模型上得到说明，并用于通过FSQPA实现双足运动。为了证明高维双足机器人系统的有效性，我们将对具有非线性，混合动力和欠驱动动力的RABBIT模型进行数值模拟。数值模拟结果表明，FSQPA是可行和有效的。版权所有（c）2015 John Wiley＆Sons，Ltd.

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