Impact Dynamics Based Control of Compass Gait Biped

被引：4

作者：

Kamath, A. K. ^{[1
]}

Singh, N. M. ^{[1
]}

机构：

[1] Veermata Jijabai Technol Inst, Dept Elect Engn, Bombay 400019, Maharashtra, India

来源：

2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年

关键词：

D O I：

10.1109/ACC.2009.5160731

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we investigate the control of compass gait biped based on its impact dynamics. We use the Receding Horizon Control (RHC) strategy to develop an active control law so as to mimic the passive gait. Our results shows that this control strategy not only mimics the passive gait but can also stabilize it for those initial conditions, which make the passive gait unstable.

引用

页码：4357 / 4360

页数：4

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