Stability of zero-moment-manifold control for a family of under-actuated robots

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 1974-1979

  Arimoto, Suguru ^a   Hashiguchi, Hiroe ^a   Murakami, Hideo ^a  

^a RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Gymnastics robots; Non holonomic constraints; Under actuated robots; Zero Moment manifold; ZMM control

Indexed keywords

CO-ORDINATED CONTROL; CONFIGURATION MANIFOLD; CONTROL SCHEMES; GRAVITY COMPENSATION; NON HOLONOMIC CONSTRAINT; NOVEL CONTROL SCHEME; UNDERACTUATED; ZERO MOMENTS;

INTELLIGENT ROBOTS;

EID: 34250626243     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545289     Document Type: Conference Paper

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