Title :
Control of the walking toy: a flatness approach
Author :
Rouchon, Pierre ; Sira-Ramirez, Hebertt
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, France
Abstract :
In this article, a flatness based approach is proposed for the control of a popular walking biped toy consisting of two legs and a central rotating body. The proposed approach allows for "smooth" walking with steps of reasonable arbitrary lengths and, moreover, without leg impacts on the floor. Computer simulations are presented in the form of animation snapshots.
Keywords :
computer animation; digital simulation; legged locomotion; path planning; robot dynamics; tracking; animation snapshots; arbitrary lengths; central rotating body; computer simulation; flatness approach; smooth walking; tracking control; walking bipeds; walking toy control; Animation; Automatic control; Centralized control; Computer simulation; Contracts; Feedback control; Leg; Legged locomotion; Trajectory; Velocity control;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243371
