Periodic stabilization of a 1-DOF hopping robot on nonlinear compliant surface

被引：0
|
作者：
Canudas, C [1 ]
Roussel, L [1 ]
Goswami, A [1 ]
机构：
[1] Ecole Natl Super Electrochim & Electrome Grenoble, Inst Natl Polytech Grenoble, UMR CNRS 5528, Lab Automat Grenoble, F-38402 St Martin Dheres, France
来源：
ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年
关键词：
periodic stabilization; walking and hopping robots;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：385 / 390
页数：4
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