학술논문
A Rapidly Convergent Projected Hestenes-Stiefel Conjugate Gradient Algorithm for Optimal Robust Controller of Bipedal Walking Robots
Document Type
Conference
Author
Source
2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2018 IEEE 8th Annual International Conference on. :1094-1099 Jul, 2018
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Language
Abstract
A rapidly convergent projected Hestenes-Stiefel conjugate gradient method is presented to help design an novel optimal robust controller of bipedal walking robots. The algorithm converges to a stable periodic gait based on an initial gait. In order to demonstrate the feasibility and effectiveness of the algorithm, we will conduct numerical simulations on the model of 5-link bipedal walking robot. Moreover, computer simulation results further demonstrate the superior performance of the projected Hestenes-Stiefel conjugate gradient algorithm compared with the conventional algorithm. Therefore, it is reasonable to infer that the projected Hestenes-Stiefel conjugate gradient approach can be used in real-time systems.