DocumentCode
2267344
Title
Control of the walking toy: a flatness approach
Author
Rouchon, Pierre ; Sira-Ramirez, Hebertt
Author_Institution
Centre Autom. et Syst., Ecole des Mines de Paris, France
Volume
3
fYear
2003
fDate
4-6 June 2003
Firstpage
2018
Abstract
In this article, a flatness based approach is proposed for the control of a popular walking biped toy consisting of two legs and a central rotating body. The proposed approach allows for "smooth" walking with steps of reasonable arbitrary lengths and, moreover, without leg impacts on the floor. Computer simulations are presented in the form of animation snapshots.
Keywords
computer animation; digital simulation; legged locomotion; path planning; robot dynamics; tracking; animation snapshots; arbitrary lengths; central rotating body; computer simulation; flatness approach; smooth walking; tracking control; walking bipeds; walking toy control; Animation; Automatic control; Centralized control; Computer simulation; Contracts; Feedback control; Leg; Legged locomotion; Trajectory; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1243371
Filename
1243371
Link To Document