Curve Tracking Control for Legged Locomotion in Horizontal Plane

Details Curve Tracking Control for Legged Locomotion in Horizontal Plane Curve Tracking Control for Legged Locomotion in Horizontal Plane

2007-01-06

arxiv.org/abs/cs/0701040v1

Computer Science

Robotics

10 pages, 11 figures, Submitted to IEEE Transactions on Automatic Control

Scientific paper

We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the runner and the curve as feedback. Constraints on leg parameters determine the class of curves that can be followed. We also derive an optimal control law that stabilizes the orientation of the runner's body relative to the velocity of the runner's center of mass.

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