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Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots
Joint Authors
Wang, Liyang
Chen, Ming
Jiang, Xiangkui
Wang, Wei
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-09-17
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The application of biped robots is always trapped by their high energy consumption.
This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits.
In this work, a constrained quadratic programming (QP) problem for energy optimization is formulated.
A neurodynamics-based solver is presented to solve the QP problem.
Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO) strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i) the force-moment equilibrium equation of biped robots, (ii) frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii) physical limits of the motors.
Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.
American Psychological Association (APA)
Wang, Liyang& Chen, Ming& Jiang, Xiangkui& Wang, Wei. 2017. Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1191464
Modern Language Association (MLA)
Wang, Liyang…[et al.]. Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots. Mathematical Problems in Engineering No. 2017 (2017), pp.1-15.
https://search.emarefa.net/detail/BIM-1191464
American Medical Association (AMA)
Wang, Liyang& Chen, Ming& Jiang, Xiangkui& Wang, Wei. Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1191464
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191464