Proposal of a variable constraint control for SMS with application to a running and jumping quadruped

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

Volumn 3, Issue , 1999, Pages

  Mita, Tsutomu ^a   Ikeda, Takayuki ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGEBRAIC DIFFERENTIAL EQUATIONS; SUPER MECHANO SYSTEM; VARIABLE CONSTRAINT CONTROL;

ALGEBRA; CONSTRAINT THEORY; EQUATIONS OF MOTION; MECHANISMS; MOBILE ROBOTS;

MOTION CONTROL;

EID: 17544388378     PISSN: 08843627     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

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3. H. Kimura et al., "Dyn,amic walking and running of the quadruped using neural oscillator", Proc. of IEEE &RSJ IROS98, 1998, pp.50-57.
4. R. M.Murray, Z. Li, S.S. Sastry, Robotic Manipulation, CRC Press, 1996.
5. H. Hemami, B. F. Wyman, "Modeling and Control of Constrained Dynamic Systems with Application to Biped Locomotion in Frontal Plane", IEEE Trans. AC, AC-24-4, 1979, pp. 526-535.
6. E. Muybridge, Animals in motion, Dover, 1957
7. R. Margaria, Biomechanics and Energetics of Muscular Exercise, Oxford University Press, 1976.
8. T. Ikeda, Y. Iwatani, K. Suse, T. Mita, "Design of a running robot based on motion analysis of animals", Proc. of IEEE CCA/CACSD, Aug. 1999.
9. T. Mita, T. Ikeda, K. Suse, Y.Iwatani," Design of a quadruped robot which can run and jump - Basic analysis and control systems design -", Proc. of IEEE Hong Kong Sympo. on Robotics and Control, July, 1999.
10. T. Ikeda, T. Mita, T. Nam, B.D.O. Anderson, "Variable Constraint Control of Nonholo-nomic Free Flying Robots - Mechanism Design and Convergence- ", IEEE CDC'99, Dec. 1999