Optimal Gait Families using Lagrange Multiplier Method

Jinwoo Choi,Capprin Bass,Ross L. Hatton,Jinwoo Choi,Capprin Bass,Ross L. Hatton

The Robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For example, the optimal gait for maximizing displacement with respect to cost is quite different from the maximum displacement optimal gait. Beyond these two general optimal gaits, we believe that the optimal gait should deal...