Title: Methodology based on CLC for control of fast legged robots
Abstract: Control of legged robots with fast gaits is addressed in this paper. These kind of systems interact intermittently with environment. We develop a new approach for control of legged robots by use of controlled limit cycles (CLC). The designed control system generates the desired trajectories (online) and control input. Viable definition of gaits and their admissibility are introduced.
Publication Year: 2002
Publication Date: 2002-11-27
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 14
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