Control Approach for Legged Robots with Fast Gaits

Authors:
N. K. M'Sirdi;N. Manamanni;D. El Ghanami
Affiliations:
LRP Laboratoire de Robotique de Paris, University of Versailles, CNRS, 10–/12, Avenue de l"/Europe, 78140 Vé/lizy, France/ e-mail: msirdi@robot.uvsq.fr;LAM Laboratoire d"/Automatique et de Microé/lectronique, University of Reims, faculté/ des Sciences –/ Moulin de la House, BP 1039 51687 Reims Cedex 2, France/ e-mail: nou ...;LRP Laboratoire de Robotique de Paris, University of Versailles, CNRS, 10–/12, Avenue de l"/Europe, 78140 Vé/lizy, France/ e-mail: ghanami@robot.uvsq.fr
Venue:
Journal of Intelligent and Robotic Systems
Year:
2000

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Abstract

A constructive control approach is proposed for legged robots with fast dynamic gaits. These systems interact intermittently with the environment. Our approach is based on Controlled Limit Cycles (CLC) and stabilizes periodic system trajectories. The designed control law generates (on-line) the desired trajectories and control input.