Published September 2003
| Published
Book Section - Chapter
Open
Control of biomimetic locomotion via averaging theory
- Creators
- Vela, Patricio A.
- Burdick, Joel W.
Chicago
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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.Attached Files
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Additional details
- Eprint ID
- 96690
- Resolver ID
- CaltechAUTHORS:20190625-095522172
- NSF
- EEC-9402726
- Created
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2019-06-25Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field