Proposal of a variable constraint control for SMS with application to a running and jumping quadruped

Author

Mita, Tsutomu ; Ikeda, Takayuki

Author_Institution

Dept. of Control Syst. Eng., Tokyo Inst. of Technol., Japan

Volume

3

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

140

Abstract

The authors propose the concept of variable constraint control (VCC) and show a control methodology which can be commonly applicable to any mechanisms with constraints. The key technologies are expression of constraints by making use of equations of motion and introduction of an algebraic differential equation to derive the control law which realizes these constraints as decoupled motions. We show the design procedure using mono-leg and two-leg running and jumping robots together with some experimental results

Keywords

control system synthesis; differential equations; legged locomotion; matrix algebra; algebraic differential equation; decoupled motions; equations of motion; jumping quadruped; mono-leg robots; running quadruped; two-leg robots; variable constraint control; Control systems; Differential algebraic equations; Differential equations; Leg; Legged locomotion; Motion control; Proposals; Robots; Switches; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.823169

Filename

823169