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Control of a legged robot

Authors
  • Sadre, Maxime
Type
Published Article
Journal
Journal of the Mechanical Behavior of Materials
Publisher
De Gruyter
Publication Date
May 01, 2015
Volume
24
Issue
1-2
Pages
53–57
Identifiers
DOI: 10.1515/jmbm-2015-0006
Source
De Gruyter
Keywords
License
Yellow

Abstract

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.

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