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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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Autor Liu, Limei; Tian, Yantao
Publicat  InTech Open Access Publisher, 2012
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Abstract 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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Superordinate work
 
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, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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PDF FaviconPDF  Switch Control Between Different Speeds for a Passive Dynamic Walker
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Administrative information
Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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