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Control Synergies for Rapid Stabilization and Enlarged Region of Attraction for a Model of Hopping
Inspired by biological control synergies, wherein fixed groups of muscles are activated in a coordinated fashion to perform tasks in a stable way, we present an analogous control approach for the stabilization of legged robots and apply it to a model of running. Our approach is based on the step-to-...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2018
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| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6352654/ https://www.ncbi.nlm.nih.gov/pubmed/31105247 http://dx.doi.org/10.3390/biomimetics3030025 |