Control of a legged robot
This paper deals with the control of hopping and running systems that interact intermittently with the environment. The control, based on a nonlinear energy reference model, has the main task of conferring to the system, a periodic stable behavior. This approach may be used for gait generation, nomi...
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| Format: | Article |
| Language: | English |
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De Gruyter
2015-05-01
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| Series: | Journal of the Mechanical Behavior of Materials |
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| Online Access: | https://doi.org/10.1515/jmbm-2015-0006 |