Title :
Dynamics based control of mechanical systems
Author_Institution :
Dept. of Syst. Sci., Kyoto Univ., Japan
Abstract :
The author recommends the use of dynamics based control by reference to the fact that the property of passivity of manipulator is robust in some sense, and by presenting the design method of controller for a legged robot based on passive dynamic walking
Keywords :
control system synthesis; robot dynamics; dynamics based control; legged robot controller design; manipulator passivity; mechanical systems; passive dynamic walking; robustness; Control systems; Control theory; Legged locomotion; Manipulator dynamics; Mechanical systems; Nonlinear dynamical systems; Robot sensing systems; Torque; Uniform resource locators; World Wide Web;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936526
