Article

Optimization of biped walking limit cycles via nonlinear model predictive control and controller-dependent bifurcation of optimal trajectories

2026-06-04

Abstract excerpt

<title>Abstract</title> <p>In this paper, we show that highly energy-efficient bipedal walking can be achieved through the optimization of limit cycles generated by nonlinear model predictive control (NMPC). We have previously proposed limit cycle generation based on NMPC as a method for realizing energy-efficient bipedal walking. In this method, we design a desired trajectory in the phase space for each joint of...

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Literature Corpus work: 93768074-9425-5e52-b346-bf4076735a84
DOI: 10.21203/rs.3.rs-9842983/v1

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