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Some Aspects of Switching Control in Robot Locomotion
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M.W. Spong
Published/Copyright:
September 25, 2009
This paper gives an overview of some nonlinear control problems in bipedal locomotion, robot gymnastics, and robot air hockey and discusses some interesting interconnections among them. These problems are fundamentally related to the control of redundant and underactuated robots particularly with respect to the application of hybrid and switching control. We relate the general problem of switching control to problems of swingup and balance of gymnastic robots and gait control in bipedal locomotion and relate these ideas to impulsive manipulation, and robot air hockey.
Published Online: 2009-09-25
Published in Print: 2000-04
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Articles in the same Issue
- Objektorientierte Modellierung Physikalischer Systeme, Teil 12 (Object-Oriented Modeling of Physical Systems, Part 12)
- Some Aspects of Switching Control in Robot Locomotion
- Regelungsstrategien für den Straßenverkehr: Vergangenheit, Gegenwart und Zukunft (Control Strategies for Road Traffic: Past, Present, and Future)
- Using Control and Systems Theoretic Concepts to Set Prices of Goods and Services in Competitive Markets
- Visuelles Laserradar zur 3D Erfassung und Modellierung Realer Umgebungen (Visual laser radar for 3D Surveying and Modelling of Real World Environments)
- Innenlärmminderung bei Helikoptern durch aktive Körperschallisolation (Helicopter Interior Noise Reduction by Active Vibration Isolation)
- A New LMI Approach to Analysis of Linear Systems Depending on Scheduling Parameter in Polynomial Forms
