Title :
Methodology based on CLC for control of fast legged robots
Author :
M´Sirdi, N.K. ; Manamani, N. ; Nadjar-Gauthier, N.
Author_Institution :
Lab. de Robotique de Paris, CNRS, Velizy, France
Abstract :
Control of legged robots with fast gaits is addressed in this paper. These kind of systems interact intermittently with environment. We develop a new approach for control of legged robots by use of controlled limit cycles (CLC). The designed control system generates the desired trajectories (online) and control input. Viable definition of gaits and their admissibility are introduced
Keywords :
control system synthesis; legged locomotion; limit cycles; CLC; controlled limit cycles; fast legged robot control; gaits; trajectory generation; Automatic control; Bifurcation; Biological system modeling; Control systems; Legged locomotion; Limit-cycles; Motion control; Robot control; Robotics and automation; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724599
