DocumentCode
2105151
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
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
71
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724599
Filename
724599
Link To Document