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Control Approach for Legged Robots with Fast Gaits

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Abstract

A constructive control approach is proposed for legged robots with fast dynamic gaits. These systems interact intermittently with the environment. Our approach is based on Controlled Limit Cycles (CLC) and stabilizes periodic system trajectories. The designed control law generates (on-line) the desired trajectories and control input.

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Authors and Affiliations

  1. LRP Laboratoire de Robotique de Paris, University of Versailles, CNRS, 10–12, Avenue de l"Europe, 78140, Vélizy, France

    N.K. M'Sirdi

  2. LAM Laboratoire d"Automatique et de Microélectronique, University of Reims, faculté des Sciences –, Moulin de la House, BP 1039, 51687, Reims Cedex 2, France

    N. Manamanni

  3. LRP Laboratoire de Robotique de Paris, University of Versailles, CNRS, 10–12, Avenue de l"Europe, 78140, Vélizy, France

    D. El Ghanami

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  1. N.K. M'Sirdi
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  2. N. Manamanni
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  3. D. El Ghanami
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M'Sirdi, N., Manamanni, N. & El Ghanami, D. Control Approach for Legged Robots with Fast Gaits. Journal of Intelligent and Robotic Systems 27, 321–343 (2000). https://doi.org/10.1023/A:1008191616942

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  • DOI: https://doi.org/10.1023/A:1008191616942

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