DocumentCode
1986715
Title
Control by non-stationary driving of the hopping apparatus
Author
Larin, Vladimir B.
Author_Institution
Inst. of Mech., Acad. of Sci., Kiev, Ukraine
Volume
4
fYear
2002
fDate
2002
Firstpage
2822
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1020039
Filename
1020039
Link To Document