Abstract
This paper presents criteria based on dynamics in order to control an under-actuated robot. The control strategy takes into account the intrinsic dynamics of the robot as well as the capability of its joint torques and modifies the dynamic effects generated by the robot directly.
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© 2006 Springer-Verlag Berlin Heidelberg
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David, A., Bruneau, O., Fontaine, J.G. (2006). Measure of the Propulsion Dynamic Capability of a Walking System. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_21
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DOI: https://doi.org/10.1007/3-540-26415-9_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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