Control of biomimetic locomotion via averaging theory

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.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Patricio A. Vela, Joel W. Burdick
• Keywords: Biomimetic Locomotive Systems, Generic Approach, ICRA 2003, Robotics, Theory Handles Discontinuities