• DocumentCode
    1748172
  • Title

    Dynamics based control of mechanical systems

  • Author

    Osuka, Koichi

  • Author_Institution
    Dept. of Syst. Sci., Kyoto Univ., Japan
  • Volume
    1
  • fYear
    2001
  • fDate
    2001
  • Firstpage
    566
  • Abstract
    The author recommends the use of dynamics based control by reference to the fact that the property of passivity of manipulator is robust in some sense, and by presenting the design method of controller for a legged robot based on passive dynamic walking
  • Keywords
    control system synthesis; robot dynamics; dynamics based control; legged robot controller design; manipulator passivity; mechanical systems; passive dynamic walking; robustness; Control systems; Control theory; Legged locomotion; Manipulator dynamics; Mechanical systems; Nonlinear dynamical systems; Robot sensing systems; Torque; Uniform resource locators; World Wide Web;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
  • Conference_Location
    Como
  • Print_ISBN
    0-7803-6736-7
  • Type

    conf

  • DOI
    10.1109/AIM.2001.936526
  • Filename
    936526
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1748172