Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot

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dc.authoridselim, erman/0000-0003-4479-0406
dc.authoridAlcı, Musa/0000-0002-5382-3460
dc.authorscopusid55899408300
dc.authorscopusid55899323700
dc.authorscopusid57287765600
dc.authorwosidselim, erman/ACZ-1332-2022
dc.authorwosidAlcı, Musa/ABI-3917-2020
dc.contributor.authorSelim, Erman
dc.contributor.authorAlci, Musa
dc.contributor.authorAltintas, Mert
dc.date.accessioned2023-01-12T19:58:32Z
dc.date.available2023-01-12T19:58:32Z
dc.date.issued2022
dc.departmentN/A/Departmenten_US
dc.description.abstractBipedal robots by their nature show both hybrid and underactuated system features which are not stable and controllable at every point of joint space. They are only controllable on certain fixed equilibrium points and some trajectories that are periodically stable between these points. Therefore, it is crucial to determine the trajectory in the control of walking robots. However, trajectory optimization causes a heavy computational load. Conventional methods to reduce the computational load weaken the optimization accuracy. As a solution, a variable time interval trajectory optimization method is proposed. In this study, optimization accuracy can be increased without additional computational time. Moreover, a five-link planar biped walking robot is designed, produced, and the dynamic walking is controlled with the proposed method. Finally, cost of transport (CoT) values are calculated and compared with other methods in the literature to reveal the contribution of the study. According to comparisons, the proposed method increases the optimization accuracy and decreases the CoT value.en_US
dc.identifier.doi10.1017/S0263574721001363
dc.identifier.endpage1819en_US
dc.identifier.issn0263-5747
dc.identifier.issn1469-8668
dc.identifier.issn0263-5747en_US
dc.identifier.issn1469-8668en_US
dc.identifier.issue6en_US
dc.identifier.scopus2-s2.0-85116533804en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1799en_US
dc.identifier.urihttps://doi.org/10.1017/S0263574721001363
dc.identifier.urihttps://hdl.handle.net/11454/76941
dc.identifier.volume40en_US
dc.identifier.wosWOS:000792170700001en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherCambridge Univ Pressen_US
dc.relation.ispartofRoboticaen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectbipedal robotsen_US
dc.subjectlegged locomotionen_US
dc.subjecttrajectory optimizationen_US
dc.subjectvariable time intervalen_US
dc.subjectcost of transporten_US
dc.subjectHybrid Zero Dynamicsen_US
dc.subjectGaiten_US
dc.titleVariable-time-interval trajectory optimization-based dynamic walking control of bipedal roboten_US
dc.typeArticleen_US

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