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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.

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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.

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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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Record Number:CaltechAUTHORS:20190625-095522172
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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
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:31
Last Modified:16 Nov 2021 17:23

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