Control of biomimetic locomotion via averaging theory
Control of biomimetic locomotion via averaging theory
复制标题
通过平均理论控制仿生运动
DOI：
10.1109/robot.2003.1241801
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
J. Burdick
中科院分区：
文献类型：
--
作者：
P. Vela;J. Burdick
基于最近发展的“广义平均理论”，我们提出了一种仿生机车系统稳定反馈控制器设计的通用方法。控制律在平均值上呈指数稳定，并且适用于非常广泛的系统。给出了两个例子：一个“运动学两足动物”，它演示了我们的理论如何处理不连续性；以及蛇板，它是一个具有漂移的欠驱动机械系统。
Based on a recently developed "generalized averaging theory", we present a generic approach for the design of stabilizing feedback controller for biomimetic locomotive systems. The control laws exponentially stabilize in the average, and they apply to a very wide class of systems. Two examples are given: a "kinematic biped" that demonstrates how our theory handles discontinuities, and the snakeboard, which is an underactuated mechanical system with drift.