DocumentCode
3043639
Title
Design and control of a walking machine
Author
Subramanium, Narayanan ; Azarm, S. ; Tsai, L.W. ; Dayawansa, W.P. ; Farvardin, N. ; Tits, A.
Author_Institution
Tata Elxsi Ltd., Bangalore, India
Volume
2
fYear
1995
fDate
21-23 Jun 1995
Firstpage
1082
Abstract
This paper discusses the modeling and control design aspects of a hexapod walking machine which is being built at the University of Maryland at College Park. We will discuss a scheme used for approximating the kinematic relationships in order to simplify the dynamic modeling, and for feedback linearization based control design in order to simplicity of implementation using a distributed computational architecture
Keywords
control system synthesis; feedback; legged locomotion; linearisation techniques; mobile robots; robot dynamics; robot kinematics; distributed computational architecture; feedback linearization based control design; hexapod walking machine; kinematic relationships; Control design; Educational institutions; Educational robots; Feedback; Legged locomotion; Mechanical engineering; Process control; Robot sensing systems; Speech processing; Speech recognition;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.520912
Filename
520912
Link To Document