| Autor: |
N. Manamani, Nacer K. M'Sirdi, N. Nadjar-Gauthier |
| Rok vydání: |
1998 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 31:189-194 |
| ISSN: |
1474-6670 |
| DOI: |
10.1016/s1474-6670(17)40026-7 |
| Popis: |
The paper addresses the hopping robots control problem. These systems interact permanently with environment. Controlled Limit Cycles (CLC) are used to define gaits and their stabilization (closed orbits). An analysis of robustness of the proposed control with respect to parameters variations and disturbances is presented and illustrated by numerical simulations. Unlike the previous studies in this field, explicit models of interactions and impacts are not used. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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