Browsing by Keywords "Controller structures"
Now showing items 1-3 of 3
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Control of underactuated planar hexapedal pronking through a dynamically embedded SLIP monopod
(IEEE, 2010)Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations ... -
On Smith predictor-based controller design for systems with integral action and time delay
(IEEE, 2013-06)A new Smith predictor based controller is proposed for systems with integral action and flexible modes under input-output time-delay. The design uses controller parametrization and aims to achieve a set of performance and ... -
Quadrupedal bounding with an actuated spinal joint
(IEEE, 2011)Most legged vertebrates use flexible spines and supporting muscles to provide auxiliary power and dexterity for dynamic behaviors, resulting in higher speeds and additional maneuverability during locomotion. However, most ...
