Optimal Trajectories and Controls for Systems of Coupled Rigid Bodies with Application of Biped Locomotion |
Contents
Historical Background | 2 |
Rigid Body Dynamics | 5 |
Relation to Present Knowledge | 9 |
Copyright | |
22 other sections not shown
Common terms and phrases
algorithm Appendix B₁ bang-bang control biped locomotion Chapter characteristics considered constraints Controls and Relative convergence coupled rigid bodies cycle defined degrees of freedom DLS phase Dominant Term Amplitude dynamic dynamic programming energy equations estimate Euler angle evaluated Example feedback control Figure foot angle foot placement footprint Fourier series gait Human Motion Ideal Support inertial internal variables iteration kinematic kinesiology Liapunov functions linear loci matrix maximum principle mechanical methods minimizing N₁ nonlinear notation objective function obtained Open-Loop Control optimal control optimal trajectory parameters problem programming Relative Motions 0.0 rigid body systems rotation solution solved support base support locus support point synthesis System Dominant Term t₁ Term Amplitude Phase thesis tion Trajectory and Ideal values variation variational methods vector walking X₁ δι δυ Δω ән ים