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Proceedings Paper

Optimal powering schemes for legged robotics
Author(s): Paul Muench; David Bednarz; Gregory P. Czerniak; Ka C Cheok
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Paper Abstract

Legged Robots have tremendous mobility, but they can also be very inefficient. These inefficiencies can be due to suboptimal control schemes, among other things. If your goal is to get from point A to point B in the least amount of time, your control scheme will be different from if your goal is to get there using the least amount of energy. In this paper, we seek a balance between these extremes by looking at both efficiency and speed. We model a walking robot as a rimless wheel, and, using Pontryagin's Maximum Principle (PMP), we find an "on-off" control for the model, and describe the switching curve between these control extremes.

Paper Details

Date Published: 7 May 2010
PDF: 9 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 769214 (7 May 2010); doi: 10.1117/12.851156
Show Author Affiliations
Paul Muench, U.S. Army Tank-Automotive Research, Development and Engineering Ctr. (United States)
David Bednarz, U.S. Army Tank-Automotive Research, Development and Engineering Ctr. (United States)
Gregory P. Czerniak, U.S. Army Tank-Automotive Research, Development and Engineering Ctr. (United States)
Ka C Cheok, Oakland Univ. (United States)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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