Journal Article

Accuracy Analysis of Optimal Trajectory Planning Methods Based on Function Approximation for a Four-DOF Biped Walking Model

Kyosuke ONO, Chunye Peng

2005

Overview

Based on an introduced optimal trajectory planning method, this paper mainly deals with the accuracy analysis during the function approximation process of the optimal trajectory planning method The basis functions are composed of Hermit polynomials and Founer series to improve the approximation accuracy Since the approximation accuracy is affected by the given orders of each basis function, the accuracy of the optimal solution is examined by changing the combinations of the orders of Hermit polynomials and Fourier series as the approximation basis functions As a result, it is found that the proper approximation basis functions are the 5th order Hermit polynomials and the 7th-10th order of Fourier series

• Publisher: 대한기계학회,Korean Society of Mechanical Engineers,Springer Nature B.V
• Subject: Accuracy / Applied sciences / Approximation / Basis functions / Exact sciences and technology / Fourier series / Fundamental areas of phenomenology (including applications) / Mathematical analysis / Mathematical models / Mechanical engineering. Machine design / Optimization / Physics / Polynomials / Solid dynamics (ballistics, collision, multibody system, stabilization...) / Solid mechanics / Studies / Trajectory analysis / Trajectory optimization / Trajectory planning