Virtual quadruped: Mechanical design, control, simulation, and experimentation

DOI10.1007/S10958-007-0495-5zbMath1151.70309OpenAlexW2092088199MaRDI QIDQ2378107

Alexander M. Formalskii, Yannick Aoustin, Christine Chevallereau

Publication date: 7 January 2009

Published in: Journal of Mathematical Sciences (New York) (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10958-007-0495-5

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Discontinuous solutions in the optimal control problems and their representation by singular space-time transformations

Cites Work

• Control design for a biped: reference trajectory based on driven angles as functions of the undriven angle
• Optimal trajectories for a quadruped robot with `Trot', `Amble' and `Curvet' gaits for two energetic criteria
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