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ICRA
2003
IEEE

Control of biomimetic locomotion via averaging theory

9 years 3 months ago
Control of biomimetic locomotion via averaging theory
Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems. The control laws exponentialy 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.
Patricio A. Vela, Joel W. Burdick
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Patricio A. Vela, Joel W. Burdick
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