Optimal protraction of a three-joint robot leg

Mustafa Suphi Erden; Kemal Leblebicioglu

doi:10.3182/20080706-5-KR-1001.00292

Optimal protraction of a three-joint robot leg

Mustafa Suphi Erden, Kemal Leblebicioglu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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 language	English
Title of host publication	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	17
DOIs	https://doi.org/10.3182/20080706-5-KR-1001.00292
Publication status	Published - Dec 2008
Event	17th World Congress, International Federation of Automatic Control - Seoul, United Kingdom Duration: 6 Jul 2008 → 11 Jul 2008

Conference

Conference	17th World Congress, International Federation of Automatic Control
Abbreviated title	IFAC
Country/Territory	United Kingdom
City	Seoul
Period	6/07/08 → 11/07/08

Keywords

Guidance navigation and control
Mobile robots
Robots manipulators

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.3182/20080706-5-KR-1001.00292

Cite this

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title = "Optimal protraction of a three-joint robot leg",

abstract = "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.",

keywords = "Guidance navigation and control, Mobile robots, Robots manipulators",

author = "Erden, {Mustafa Suphi} and Kemal Leblebicioglu",

year = "2008",

month = dec,

doi = "10.3182/20080706-5-KR-1001.00292",

language = "English",

isbn = "9783902661005",

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TY - GEN

T1 - Optimal protraction of a three-joint robot leg

AU - Erden, Mustafa Suphi

AU - Leblebicioglu, Kemal

PY - 2008/12

Y1 - 2008/12

N2 - 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.

AB - 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.

KW - Guidance navigation and control

KW - Mobile robots

KW - Robots manipulators

U2 - 10.3182/20080706-5-KR-1001.00292

DO - 10.3182/20080706-5-KR-1001.00292

M3 - Conference contribution

AN - SCOPUS:79961019053

SN - 9783902661005

VL - 17

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

T2 - 17th World Congress, International Federation of Automatic Control

Y2 - 6 July 2008 through 11 July 2008

ER -

Optimal protraction of a three-joint robot leg

Abstract

Conference

Keywords

UN SDGs

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