DocumentCode
2238008
Title
Control of biomimetic locomotion via averaging theory
Author
Vela, Patricio A. ; Burdick, Joel W.
Author_Institution
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1482
Abstract
Based on a recently developed "generalized averaging theory", we present a generic approach for the design of stabilizing feedback controller for biomimetic locomotive systems. The control laws exponentially stabilize in the average, and they apply to a very wide class of systems. Two examples are given: a "kinematic biped" that demonstrates how our theory handles discontinuities, and the snakeboard, which is an underactuated mechanical system with drift.
Keywords
asymptotic stability; control system synthesis; feedback; legged locomotion; mechanical variables control; robot kinematics; robust control; biomimetic locomotion control; drift; generalized averaging theory; generic approach; kinematic biped; robotic locomotors; snakeboard; stabilizing feedback controller design; underactuated mechanical system; Biomimetics; Control systems; Kinematics; Legged locomotion; Mechanical systems; Mobile robots; Motion analysis; Motion control; Performance analysis; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241801
Filename
1241801
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