Optimal Switching Curve for a Multiple Link Walking Robot Using Nelder Mead Optimization

Abstract

Over the past several years, legged mechanisms have shown remarkable progress towards practicality. The need now is for efficient means of controlling these mechanisms. In previous papers, we have found the optimal switching curve for controlling a simplified model of walking called the rimless wheel model. In this paper, we again find the optimal switching curve for the rimless wheel using another approach-Nelder and Mead's simplex algorithm, a technique for global optimization. We compare the results from Nelder Mead with those obtained from our previous research using Pontryagin's Maximum Principle. We extend these results by applying Nelder Mead optimization to the walking gait of a multiple link model. We find an initial example of efficient control using this powerful technique.

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Document Details

Document Type
Technical Report
Publication Date
Aug 17, 2010
Accession Number
ADA532866

Entities

People

  • James J. English
  • Jamie Maclennan
  • Paul Muench

Organizations

  • United States Army Tank Automotive Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Differential Equations
  • Energy
  • Engineering
  • Fourier Series
  • Ground Vehicles
  • Instructions
  • Kinetic Energy
  • Numbers
  • Optimization
  • Pendulums
  • Robots
  • Simplex Method
  • Switching
  • Systems Engineering
  • Vehicles

Fields of Study

  • Computer science
  • Mathematics

Readers

  • Operations Research
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy