Title :
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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.823169
