Applications of Switching Control in Robot Locomotion Workshop on Intelligent Control in Robotics and Automation
نویسنده
چکیده
In this paper we discuss the application of switching control to problems in intelligent robot control. We will show a connection between research issues in robot locomotion and issues in robot gymnastics, and robot air hockey. These problems are fundamentally related to the control of redundant and underactuated robots. We discuss the general problem of switching control and relate these concepts to problems of swingup and balance of gymnastic robots and gait control in bipedal locomotion. We also discuss the relationships among hybrid control, impulsive manipulation, visually guided locomotion, and robot air hockey.
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تاریخ انتشار 1999