Cart (Loading....) | Create Account
Close category search window
 

μ-synthesis control for a walking robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Pannu, S. ; Dept. of Mech. Eng., California Univ., Berkeley, CA, USA ; Kazerooni, H. ; Becker, G. ; Packard, A.

Proposes using two under-actuated robotic systems as two legs of a walking machine. Since the ankle joints of both legs have no actuation, the walking machine remains upright only when it is balanced via a computer-controller. The design of a stabilizing controller for one under-actuated leg, using a μ-synthesis approach, is explained in detail. The system at the equilibrium can be represented by a non-minimum phase system. The right half plane zero severely limits the achievable closed-loop bandwidth and robustness in modeling errors

Published in:

Control Systems, IEEE  (Volume:16 ,  Issue: 1 )

Date of Publication:

Feb 1996

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.