Control of a legged robot

This 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, nomi...

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Bibliographic Details
Main Author:	Sadre Maxime
Format:	Article
Language:	English
Published:	De Gruyter 2015-05-01
Series:	Journal of the Mechanical Behavior of Materials
Subjects:	control of limit cycle hopping robots robotics
Online Access:	https://doi.org/10.1515/jmbm-2015-0006

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spelling	doaj-ea7dfe0a02204ff6a9488c60e2eeead72021-10-02T19:26:15ZengDe GruyterJournal of the Mechanical Behavior of Materials0334-89382191-02432015-05-01241-2535710.1515/jmbm-2015-0006Control of a legged robotSadre Maxime0Department of Mechatronics, University of Versailles-Saint-Quentin-En-Yvelines, ISTY, 28 Boulevard Roger Salengro, 78710 Mantes-La-Ville, FranceThis 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.https://doi.org/10.1515/jmbm-2015-0006control of limit cyclehopping robotsrobotics
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Sadre Maxime
spellingShingle	Sadre Maxime Control of a legged robot Journal of the Mechanical Behavior of Materials control of limit cycle hopping robots robotics
author_facet	Sadre Maxime
author_sort	Sadre Maxime
title	Control of a legged robot
title_short	Control of a legged robot
title_full	Control of a legged robot
title_fullStr	Control of a legged robot
title_full_unstemmed	Control of a legged robot
title_sort	control of a legged robot
publisher	De Gruyter
series	Journal of the Mechanical Behavior of Materials
issn	0334-8938 2191-0243
publishDate	2015-05-01
description	This 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.
topic	control of limit cycle hopping robots robotics
url	https://doi.org/10.1515/jmbm-2015-0006
work_keys_str_mv	AT sadremaxime controlofaleggedrobot
_version_	1716846790435667968

Control of a legged robot

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