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In this paper, we proposes an approach to generate arbitrary quasi-natural foot gait for the walking biped robot with variate COM height preview control. The arbitrary foot gait planning is generated by zero moment point (ZMP) mapping method and a curve with certain radius. In order to walk smoothly in turning gait, the walking pattern is designed in variate height COM motion. However, this method...
The current surveillance systems, especially the enhanced en-route system and the advance surface movement guidance and control system (A-SMGCS), are an integration of various techniques, primary surveillance radar (PSR), secondary surveillance radar (SSR), Multilateration (MLAT), and Automatic Dependent Surveillance — Broadcast(ADS-B). The performances of these systems are often evaluated based on...
This paper presents a new differential dynamic programming (DDP) algorithm for solving constrained optimal control problems. The basic idea is to relax all constraints but the system dynamics by using the multiplier method. For a given set of multipliers, there is an unconstrained dynamic optimization problem to which DDP applies effectively. The optimal solution is obtained by iteratively updating...
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