In:
ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik, Wiley, Vol. 80, No. S2 ( 2000-01), p. 357-358
Abstract:
The project of a two‐legged walking robot is presented. For this system a nonlinear control scheme is proposed that is based on the method of feedback linearization. In order to allow for a “dynamically” stable motion, the reference trajectories are computed so that the system remains controllable throughout the entire gait cycle. In simulations the robot is controlled in a running motion, including phases without ground contact. The simulation results show the good performance of the control strategy in a purely dynamic motion.
Type of Medium:
Online Resource
ISSN:
0044-2267
,
1521-4001
DOI:
10.1002/zamm.v80.20s
DOI:
10.1002/zamm.20000801450
Language:
English
Publisher:
Wiley
Publication Date:
2000
detail.hit.zdb_id:
203011-1
detail.hit.zdb_id:
1474638-4
SSG:
17,1
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