Variational Analysis and Sequential Quadratic Programming Approach for Robotics

摘要

Sequential quadratic programming (SQP) methods are widely used for solving practical optimization problems, especially in contact mechanics. The general structure of SQP methods is briefly introduced and it is shown how these methods can be adapted to field of Robotics, especially bipedal robot. Numerical results are presented for compass bipedal robot. This paper describes relationship between variational analysis and sequential quadratic programming using discrete mechanics and optimal control for bipedal robot.