Title :
Dynamic Stabilization of an Under-Actuated Robot using Dynamic Effects of the Legs and the Trunk
Author :
David, Anthony ; Bruneau, Olivier
Author_Institution :
Laboratoire Vision et Robotique, ENSI de Bourges
Abstract :
This paper presents the first theoretical tools to control an under-actuated robot by taking into account its intrinsic dynamics. In order to perform this control, the idea is to modify the configuration and the dynamic effects of the robot if the measured velocity of the robot is not the desired one
Keywords :
robot dynamics; stability; dynamic stabilization; intrinsic dynamics; under-actuated robot; Acceleration; Hip; Intelligent robots; Knee; Leg; Legged locomotion; Rabbits; Robot control; Robot vision systems; Stability; Dynamic criterion; Dynamic stability; Under-actuated robot;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281744
