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The International Journal of Robotics Research
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Optimal Gaits for Dynamic Robotic Locomotion

Jorge Cortés

Laboratory of Dynamical Systems, Mechanics, and Control, Instituto de Matemáticas y Física Fundamental, Consejo Superior de Investigaciones Cientificas, Madrid 28006, Spainj.cortes{at}imaff.cfmac.csic.es

Sonia Martínez

Laboratory of Dynamical Systems, Mechanics, and Control, Instituto de Matemáticas y Física Fundamental, Consejo Superior de Investigaciones Cientificas, Madrid 28006, Spains.martinez{at}imaff.cfmac.csic.es

James P. Ostrowski

General Robotics, Automation, Sensing and, Perception Laboratory, University of Pennsylvania, Philadelphia, PA 19104-6228, USAjpo{at}grasp.cis.upenn.edu

Kenneth A. McIsaac

General Robotics, Automation, Sensing and, Perception Laboratory, University of Pennsylvania, Philadelphia, PA 19104-6228, USAkamcisaa{at}seas.upenn.edu

This paper addresses the optimal control and selection of gaits in a class of dynamic locomotion systems that exhibit group symmetries. The authors study near-optimal gaits for an underwater eel-like robot, although the tools and analysis can be applied more broadly to a large family of nonlinear control systems with drift. The approximate solutions to the optimal control problem are found using a truncated basis of cyclic input functions. This generates feasible paths that approach the optimal one as the number of basis functions is increased. The authors describe an algorithm to obtain numerical solutions to this problem and present simulation results that demonstrate the types of solutions that can be achieved. Comparisons are made with experimental data using the REEL II robot platform.

Key Words: optimal control • robotic locomotion • dynamic systems • geometric methods

The International Journal of Robotics Research, Vol. 20, No. 9, 707-728 (2001)
DOI: 10.1177/02783640122067624
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[Abstract] [PDF]