A method for determination of optimal gaits with application to a snake-like serial-link structure

IEEE Transactions on Automatic Control

Volumn 50, Issue 9, 2005, Pages 1291-1306

  Hicks, Gregory ^a   Ito, Kazufumi ^b  

^a AIR FORCE RESEARCH LABORATORY   (United States)

^b NORTH CAROLINA STATE UNIVERSITY   (United States)

Author keywords

Locomotion; Numerical optimal control; Optimal gaits; Reduction

Indexed keywords

ALGORITHMS; APPROXIMATION THEORY; CONTROL SYSTEM SYNTHESIS; LAGRANGE MULTIPLIERS; MATRIX ALGEBRA; NONLINEAR CONTROL SYSTEMS; OPTIMIZATION; ROBOTICS; VECTORS;

LOCOMOTION; OPTIMAL GAITS;

OPTIMAL CONTROL SYSTEMS;

EID: 25844493574     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2005.854583     Document Type: Article

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