Author(s)

Tatsuya Kai

Department of Applied Electronics, Faculty of Industrial Science and Technology, Tokyo University of Science, Tokyo, Japan.

This paper considers an obstacle avoidance control problem for the compass-type biped robot, especially circular obstacles are dealt with. First, a sufficient condition such that the swing leg does not collide the circular obstacle is derived. Next, an optimal control problem for the discrete compass-type robot is formulated and a solving method of the problem by the sequential quadratic programming is presented in order to calculate a discrete control input. Then, a transformation method that converts a discrete control input into a continuous zero-order hold input via discrete Lagrange-d’ Alembert principle is explained. From the results of numerical simulations, it turns out that obstacle avoidance control for the continuous compass-type robot can be achieved by the proposed method.

Discrete Mechanics, Compass-Type Biped Robot, Obstacle Avoidance Control, Nonlinear Optimization, Zero-Order Hold Input

Kai, T. (2015) Circular Obstacle Avoidance Control of the Compass-Type Biped Robot Based on a Blending Method of Discrete Mechanics and Nonlinear Optimization. International Journal of Modern Nonlinear Theory and Application, 4, 179-189. doi: 10.4236/ijmnta.2015.43013.