Vertical and Longitudinal Control of a Hopping System by Controlled Limit Cycle
نویسنده
چکیده
This paper deals with the vertical and longitudinal control of a mechanical system which interacts intermittently with the environment. The control approach is based on Controlled LimitCycle for performing the hopping motion, whereas a nonlinear energy based control law is used for longitudinal motion control. The study of this simple system permits a better comprehension of more complicated legged robots. This approach may be used for gait generation, nominal stance stabilization, energy shaping and optimization.
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