Control of the walking toy:: A flatness approach

被引：0
|
作者：
Rouchon, P [1 ]
Sira-Ramírez, H [1 ]
机构：
[1] Ecole Mines Paris, Ctr Automat & Syst, F-75272 Paris 06, France
来源：
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2003年
关键词：
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：
In this article, a flatness based approach is proposed for the control of a popular walking biped toy consisting of two legs and a central rotating body. The proposed approach allows for "smooth" walking with steps of reasonable arbitrary lengths and, moreover, without leg impacts on the floor. Computer simulations are presented in the form of animation snapshots.
引用
收藏
页码：2018 / 2023
页数：6
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