Falling Motion Control of Humanoid Robot Based on Parametric Optimum
ZHONG Qiubo1,2, PAN Qishu1, HONG Bingrong1, PIAO Songhao1
1. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China; 2. College of Information and Computer Engineering, Northeast Forestry University, Harbin 150040, China
Abstract：For falling motion control of humanoid robot,an approximate solution of optimal control function is obtained with classic parametric optimization methods.Based on parametric control and enhancing technique,the piece-wise constant value is used to approach the optimal solution.Then,the optimal control problem can be transformed into the parameter optimization problems.Moreover,an optimal control algorithm of falling motion for humanoid robot is proposed based on this method,and comparison with GA(genetic algorithm) is proposed.Finally,this algorithm is validated by simulation.
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