Control of biomimetic locomotion via averaging theory
نویسندگان
چکیده
Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems. The control laws exponentialy stabilize in the average, and they apply to a very wide class of systems. Two examples are given: a ”kinematic biped” that demonstrates how our theory handles discontinuities, and the snakeboard, which is an underactuated mechanical system with drift.
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