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Erschienen in:
2008 | OriginalPaper | Buchkapitel
Optimizing Spring-Damper Design in Human Like Walking that is Asymptotically Stable Without Feedback
verfasst von : Katja D. Mombaur, Richard W. Longman, Hans Georg Bock, Johannes P. Schiöder
Erschienen in: Modeling, Simulation and Optimization of Complex Processes
Verlag: Springer Berlin Heidelberg
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Special purpose numerical optimal control algorithms can be used to create biped multibody systems and open loop joint torque histories that create periodic motions that are asymptotically stable without any feedback. In this context, we have produced open-loop stable biped walking, running, hopping, somersaults and flip-flops. In this paper, we specifically investigate the stabilizing role of springs and dampers added to a biped walking system by including the spring and damper constants in the stability optimization. It is shown that stability and robustness to state disturbances of the asymptotically stable open loop gaits can be very substantially increased by an optimization-based selection of spring and damper components and that springs and dampers help to induce a more natural appearing solution.