Affiliation:
1. 1Department of Mechatronics, University of Versailles-Saint-Quentin-En-Yvelines, ISTY, 28 Boulevard Roger Salengro, 78710 Mantes-La-Ville, France
Abstract
AbstractThis paper deals with the control of hopping and running systems that interact intermittently with the environment. The control, based on a nonlinear energy reference model, has the main task of conferring to the system, a periodic stable behavior. This approach may be used for gait generation, nominal stance stabilization, energy shaping, and optimization.
Subject
Mechanics of Materials,Materials Science (miscellaneous)
Reference30 articles.
1. Control approach for hopping robots controlled limit cycles Amiens;Sirdi;Proc IEEE,1998
2. Formal sky In Proceedings of World Automation Congress International Symposium on Robotics and Manufacturing Systems Ballistic motions for a quadruped robot IEE;Chevallereau;USA,1996
3. Modeling and control of biped robot dynamics
4. Modeling and control of biped robot dynamics