Control modes for a three-dimensional galloping machine

Proceedings of the ASME Design Engineering Technical Conference

Volumn 2 B, Issue , 2004, Pages 1525-1533

  Waldron, Kenneth J ^a   Kallem, Vinutha ^a  

^a STANFORD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL EQUIPMENT; CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); GAIT ANALYSIS; KINEMATICS; KINETIC ENERGY; MACHINE DESIGN; MACHINERY; MOTION CONTROL; POSITION CONTROL;

CONTROL MODES; CROSS-COUPLINGS; RAIBERT CONTROLLERS; THREE-DIMENSIONAL GALLOPING MACHINES;

MECHANICAL ENGINEERING;

EID: 13944273760     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/detc2004-57587     Document Type: Conference Paper

References (7)

1. Kumar, V. and Waldron, K.J., "Force Distribution in Closed Kinematic Chains" IEEE Transactions on Robotics and Automation, Vol. 4, No. 6, December 1988, pp. 657-664.
2. McMahon, T.A., Muscles. Reflexes and Locomotion, Princeton, 1984.
3. Palmer, L.R., Orin, D.E., Marhefka, D.W., Schmiedeler, J.P. and Waldron, K.J., "Intelligent Control of an Experimental Articulated Leg for a Galloping Machine," Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sept. 14-19, 2003, pp. 3821-3827.
4. Raibert, M. H., 1986, Legged Robots That Balance, MIT Press, Cambridge, Massachusetts.
5. Schmiedeler, J.P. and Waldron, K.J., "The Effect of Drag on Gait Selection in Dynamic Quadrupedal Locomotion," International Journal of Robotics Research, Vol. 18, No. 12, 1999, pp. 1224-1234.
6. Waldron, K.J. and Nichol, J.G. "Architectural Issues in Running Machines," submitted to ROMANSY 2004.
7. Waldron, K.J., "Design of Walking Machines," in Human and Machine Locomotion, ed. A. Morecki and K.J. Waldron, Springer, 1997, pp. 283-315.