Periodic Stabilization of a 1-dof Hopping Robot on Nonlinear Compliant Surface
نویسنده
چکیده
This paper deals with the problem of characterizing and stabilizing periodic orbits of a 1-DOF hopping robot moving over a nonlinear compliant surface. It is shown, through implicit calculations of the Poincare map, that globally stable periodic motions are possible via the injection of nonlinear damping.
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تاریخ انتشار 1997