Control of biomimetic locomotion via averaging theory

Vela, Patricio A. and Burdick, Joel W. (2003) Control of biomimetic locomotion via averaging theory. In: 2003 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 1482-1489. ISBN 0-7803-7736-2. https://resolver.caltech.edu/CaltechAUTHORS:20190625-095522172

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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.

Item Type:

Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.2003.1241801	DOI	Article

Additional Information:

Funders:

Funding Agency	Grant Number
NSF	EEC-9402726

DOI:

10.1109/ROBOT.2003.1241801

Record Number:

CaltechAUTHORS:20190625-095522172

Persistent URL:

https://resolver.caltech.edu/CaltechAUTHORS:20190625-095522172

Official Citation:

P. A. Vela and J. W. Burdick, "Control of biomimetic locomotion via averaging theory," 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Taipei, Taiwan, 2003, pp. 1482-1489 vol.1. doi: 10.1109/ROBOT.2003.1241801

Usage Policy:

No commercial reproduction, distribution, display or performance rights in this work are provided.

ID Code:

96690

Collection:

CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

25 Jun 2019 18:31

Last Modified:

16 Nov 2021 17:23

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