Control Approach for Legged Robots with Fast Gaits

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. 
DOI: 10.1023/A:1008191616942

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