IEEE - Institute of Electrical and Electronics Engineers, Inc. - Impact dynamics based control of compass gait biped

2009 American Control Conference (ACC-09)

Author(s): A.K. Kamath ; N.M. Singh
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2009
Conference Location: St. Louis, MO, USA
Conference Date: 10 June 2009
Page(s): 4,357 - 4,360
ISBN (CD): 978-1-4244-4524-0
ISBN (Paper): 978-1-4244-4523-3
ISSN (Electronic): 2378-5861
ISSN (Uncategorized ISSN): 0743-1619
ISSN (Paper): 0743-1619
DOI: 10.1109/ACC.2009.5160731
Regular:

In this paper we investigate the control of compass gait biped based on its impact dynamics. We use the receding horizon control (RHC) strategy to develop an active control law so as to mimic the... View More

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