An energetic control based on limit cycles for stabilization of fast legged robots
| Autor: | D. El Ghanami, Nacer K. M'Sirdi, N. Manamani, Nelly Nadjar-Gauthier |
|---|---|
| Rok vydání: | 1998 |
| Předmět: |
Engineering
business.industry Control engineering ComputingMethodologies_ARTIFICIALINTELLIGENCE Computer Science Applications Human-Computer Interaction Hardware and Architecture Control and Systems Engineering Control theory Robustness (computer science) Control system Limit (music) Robot Control (linguistics) business Software ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Advanced Robotics. 13:703-717 |
| ISSN: | 1568-5535 0169-1864 |
| DOI: | 10.1163/156855300x00043 |
| Popis: | Control of legged robots with fast gaits is addressed in this paper. These kind of systems interact intermittently with the environment. We propose a viable approach for the control of hopping gaits for legged robots. This control approach is based on controlled limit cycles (CLC) for stabilization of fast gaits (closed orbits) for legged robots. The designed control system generates the desired trajectories (on-line) and control inputs. Robustness of the proposed control with respect to parameter variation and disturbance is illustrated by numerical simulations. Viable definitions of gaits and their admissibility are introduced. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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