DocumentCode
3174061
Title
Dynamic Stabilization of an Under-Actuated Robot using Dynamic Effects of the Legs and the Trunk
Author
David, Anthony ; Bruneau, Olivier
Author_Institution
Laboratoire Vision et Robotique, ENSI de Bourges
fYear
2006
fDate
Oct. 2006
Firstpage
898
Lastpage
903
Abstract
This paper presents the first theoretical tools to control an under-actuated robot by taking into account its intrinsic dynamics. In order to perform this control, the idea is to modify the configuration and the dynamic effects of the robot if the measured velocity of the robot is not the desired one
Keywords
robot dynamics; stability; dynamic stabilization; intrinsic dynamics; under-actuated robot; Acceleration; Hip; Intelligent robots; Knee; Leg; Legged locomotion; Rabbits; Robot control; Robot vision systems; Stability; Dynamic criterion; Dynamic stability; Under-actuated robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0259-X
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.281744
Filename
4058475
Link To Document