Corpus ID: 119166761

Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems

  title={Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems},
  author={Kaveh Akbari Hamed and Wen-Loong Ma and Vinay R. Kamidi and A. Ames},
  journal={arXiv: Optimization and Control},
This paper presents a hierarchical feedback control strategy for complex hybrid systems that represent collaborative multiagent legged robotic systems with arms for manipulating an object. We develop high-dimensional hybrid models, including continuous- and discrete-time dynamics, for multiagent legged systems. Each agent has its own baseline controller to produce an exponentially stable legged locomotion pattern. For the manipulating purpose of the object, a two-level control strategy is… Expand

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