Title :
Control by non-stationary driving of the hopping apparatus
Author :
Larin, Vladimir B.
Author_Institution :
Inst. of Mech., Acad. of Sci., Kiev, Ukraine
Abstract :
The problem of hierarchical control by nonstationary driving of the hopping apparatus is considered. It is shown that as well as in the case of a walking apparatus, the problem can be reduced to construction of the periodic solution of the discrete Riccati equation. The outcomes of simulation testify the efficiency of the offered algorithm.
Keywords :
Riccati equations; hierarchical systems; legged locomotion; motion control; biped motion; discrete Riccati equation; hierarchical control; hopping apparatus; motion control; nonstationary driving; simulation; walking apparatus; Control system synthesis; Control systems; Finishing; Leg; Legged locomotion; Motion control; Permeability; Riccati equations; Robot kinematics; Testing;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020039
