Title :
Nonlinear feedback in simple locomotion systems
Author :
Hemami, H. ; Camana, P.C.
Author_Institution :
Ohio State University, Columbus, OH, USA
fDate :
12/1/1976 12:00:00 AM
Abstract :
The purpose of this short paper is to analyze postural stability and periodic motion of a simple model of a locomotion system. Nonlinear feedback is used to linearize the system. The effects of discretization, quantization and noise are studied via simulation of a compound inverted pendulum with realistic actuator models.
Keywords :
Legged locomotion; Nonlinear systems, continuous-time; Stability; Actuators; Control systems; Fasteners; Gain; Leg; Linear feedback control systems; Linear systems; Nonlinear control systems; Stability; State feedback;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1976.1101381
