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Designing feedback algorithms for controlling the periodic motions of legged robots

Ostrowski, J. P. and Burdick, J. W. (1993) Designing feedback algorithms for controlling the periodic motions of legged robots. In: [1993] Proceedings IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 260-266. ISBN 0-8186-3450-2. https://resolver.caltech.edu/CaltechAUTHORS:20170601-133812702

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Abstract

A nonlinear feedback control algorithm is developed for repetitive legged robotic locomotion whose global dynamic behavior can be encoded in a Poincare return map. Control synthesis is equivalent to the selection of a nonlinear feedback control law which properly shapes the return map. A method is presented for return map shaping in a neighborhood of a fixed point. In practice, this neighborhood can be quite large. The theory is illustrated with applications to a simplified model of Raibert's hopping machines. An added benefit is accurate control of hopping height above undulating terrain.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1993.292156DOIArticle
http://ieeexplore.ieee.org/document/292156/PublisherArticle
Additional Information:© 1993 IEEE.
Record Number:CaltechAUTHORS:20170601-133812702
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170601-133812702
Official Citation:J. P. Ostrowski and J. W. Burdick, "Designing feedback algorithms for controlling the periodic motions of legged robots," [1993] Proceedings IEEE International Conference on Robotics and Automation, Atlanta, GA, 1993, pp. 260-266 vol.2. doi: 10.1109/ROBOT.1993.292156
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77892
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:01 Jun 2017 23:16
Last Modified:03 Oct 2019 18:02

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