Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots

This paper revisits the concept of controlled reduction, a symmetry-based method of decomposing the control of mechanical systems into lower-dimensional problems. Founded on a geometric property of serial kinematic chains termed recursive cyclicity, the present work extends this property to branched...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Gregg, R.D., Spong, M.W.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Hip Kinematics Limit-cycles Mechanical systems Orbital robotics Robots Torso Tree data structures Turning
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!