Optimal protraction of a three-joint robot leg

Mustafa Suphi Erden, Kemal Leblebicioglu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In this paper protraction movement, namely stepping ahead, of a three joint robot leg is optimized for energy efficiency for any given pair of initial-final tip point positions. For the optimization a modified version of gradient descent based optimal control algorithm with Hamiltonian formulation is used. The objective function is modified in steps to jump over the infeasible and inefficient local optimums. The results of 79 optimizations are used to construct a radial basis function neural network (RBFNN) in order to interpolate between the optimized trajectories. The results are presented and discussed in the paper.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Publication statusPublished - Dec 2008
Event17th World Congress, International Federation of Automatic Control - Seoul, United Kingdom
Duration: 6 Jul 200811 Jul 2008


Conference17th World Congress, International Federation of Automatic Control
Abbreviated titleIFAC
Country/TerritoryUnited Kingdom


  • Guidance navigation and control
  • Mobile robots
  • Robots manipulators


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