Using optimization to create self-stable human-like running

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 321-330 ◽  
Author(s):  
Katja Mombaur
Keyword(s):  
Optimal Control ◽  
Simulation Model ◽  
Numerical Optimization ◽  
Humanoid Robots ◽  
Open Loop ◽  
Optimization Techniques ◽  
Model Parameters ◽  
Two Dimensional ◽  
Control Techniques ◽  
Dimensional Simulation

SUMMARYThis paper demonstrates how numerical optimization techniques can efficiently be used to create self-stable running motions for a human-like robot model. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future. We investigate a two-dimensional simulation model of running with nine bodies (trunk, thighs, shanks, feet, and arms) powered by external moments at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine model parameters and actuator inputs that lead to fully open-loop stable running motions.

scholarly journals Use of a Two-Dimensional Simulation Model in the Thermal Analysis of a Multi-Board Electronic Module

1994 ◽  
Vol 116 (2) ◽  
pp. 126-133 ◽  
Author(s):  
C. Beckermann ◽  
T. F. Smith ◽  
B. Pospichal
Keyword(s):  
Heat Transfer ◽  
Simulation Model ◽  
Three Dimensional ◽  
Two Dimensional ◽  
Circuit Boards ◽  
Depth Direction ◽  
Wide Range ◽  
Local Board ◽  
Dimensional Simulation ◽  
Effective Component

A study is reported of heat transfer and air flow in an electronic module consisting of an array of narrowly spaced vertical circuit boards with highly-protruding components contained in a naturally vented chassis. A two-dimensional simulation model is developed that accounts for heat transfer by conduction, convection, and radiation, and sensitivity studies are performed. Experiments are conducted using a specially constructed test module. Comparisons with the experiments reveal the need to calibrate the model by selecting an effective component height that represents the drag properties of the actual three-dimensional component geometry. The need to account in the model for heat losses in the depth direction is also discussed. The importance of accurate thermophysical properties and of multi-dimensional radiation is shown. Good agreement with measured velocities and local board temperatures is obtained over a wide range of power levels, and it is concluded that the calibrated model is capable of representing the thermal behavior of the present module.

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