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Published September 2003 | Published
Book Section - Chapter Open

Control of biomimetic locomotion via averaging theory

Abstract

Based on a recently developed "generalized averaging theory", we present a generic approach for the design of stabilizing feedback controller for biomimetic locomotive systems. The control laws exponentially 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.

Additional Information

© 2003 IEEE. This work was supported in part by the National Science Foundation by Engineering Research Center grant NSF9402726.

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