IEEE Transactions on Automatic Control · 1976 · 75 citations · 6 references
EngineeringMechanical EngineeringRobotics EngineeringActuatorsDynamical SystemsRobot DynamicsActuator DynamicsActuator ModelingLegged LocomotionLocomotion AnalysisLocomotion BiomechanicsNonlinear DynamicsLocomotionLocomotion DynamicsLocomotion Stability AnalysisLocomotor DynamicsNonlinear FeedbackNonlinear Feedback LinearizationPeriodic MotionPostural Stability Analysis
The purpose of this short paper is to analyze postural stability and periodic motion of a simple model of a locomotion system. Nonlinear feedback is used to linearize the system. The effects of discretization, quantization and noise are studied via simulation of a compound inverted pendulum with realistic actuator models.
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