Title :
Control of biomimetic locomotion via averaging theory
Author :
Vela, Patricio A. ; Burdick, Joel W.
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Based on a recently developed "generalized averaging theory", we present a generic approach for the design of stabilizing feedback controller for biomimetic locomotive systems. The control laws exponentially stabilize in the average, and they apply to a very wide class of systems. Two examples are given: a "kinematic biped" that demonstrates how our theory handles discontinuities, and the snakeboard, which is an underactuated mechanical system with drift.
Keywords :
asymptotic stability; control system synthesis; feedback; legged locomotion; mechanical variables control; robot kinematics; robust control; biomimetic locomotion control; drift; generalized averaging theory; generic approach; kinematic biped; robotic locomotors; snakeboard; stabilizing feedback controller design; underactuated mechanical system; Biomimetics; Control systems; Kinematics; Legged locomotion; Mechanical systems; Mobile robots; Motion analysis; Motion control; Performance analysis; Wheels;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241801
