Control Approach for Legged Robots with Fast Gaits View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2000-04

AUTHORS

N.K. M'Sirdi, N. Manamanni, D. El Ghanami

ABSTRACT

A constructive control approach is proposed for legged robots with fast dynamic gaits. These systems interact intermittently with the environment. Our approach is based on Controlled Limit Cycles (CLC) and stabilizes periodic system trajectories. The designed control law generates (on-line) the desired trajectories and control input.

PAGES

321-343

References to SciGraph publications

  • 1997-09. Adaptive Impedance Control Applied to a Pneumatic Legged Robot in JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1023/a:1008191616942

    DOI

    http://dx.doi.org/10.1023/a:1008191616942

    DIMENSIONS

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