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Erweiterte Suche   Mechanismensuche

Switch Control Between Different Speeds for a Passive Dynamic Walker : Cambio di controllo tra differenti velocità per un camminatore dinamico passivo, in: International Journal of Advanced Robotic Systems
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Allgemeine Angaben
Autor Liu, Limei; Tian, Yantao
Erschienen  InTech Open Access Publisher, 2012
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ISBN
Kurzbeschreibung To make a biped robot walk stably at various
speeds, a novel switch control approach is proposed to
make the gaits switch smoothly between different
walking speeds. The switch controller is designed based
on the Lyapunov stability theory and the sufficient
condition is given to make the closed‐loop system stable.
This controller can allow the robot to reach the stable
gaits corresponding to the various speeds and improve
the robustness of switch process. Potential energy
compensation control has been studied in the dynamic
model of a passive dynamic walking robot with knees.
The functional relationship between the initial states and
the walking speed is obtained. Numerical simulations are
provided to verify the effectiveness of the control
strategy.
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Zeitschriftenartikel
ab 2000
Übergeordnete Werke
 
no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
Verknüpfte Datensätze
Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=33004009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33004009.html
PDF FaviconPDF  Switch Control Between Different Speeds for a Passive Dynamic Walker
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Publikationsdatum 2012
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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