Curve Tracking Control for Legged Locomotion in Horizontal Plane

@article{Zhang2007CurveTC,
  title={Curve Tracking Control for Legged Locomotion in Horizontal Plane},
  author={F. Zhang},
  journal={CoRR},
  year={2007},
  volume={abs/cs/0701040}
}
We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and th e elasticity of its legs to move in a desired direction. Stablemotion along a curved path is achieved using curvature, bearing and relative distance between the runner and the curve as feedba ck. Constraints on leg parameters determine the class of curves that can… CONTINUE READING