Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot

DOI10.1016/j.nahs.2024.101496zbMATH Open1544.93579MaRDI QIDQ6581266

Ningbo Cheng, Chi Zhang, Wei Zou, Liping Ma

Publication date: 30 July 2024

Published in: Nonlinear Analysis. Hybrid Systems (Search for Journal in Brave)

zbMATH Keywords

dynamic modelinginterconnection and damping assignment passivity-based control (IDA-PBC)bio-inspired jumping robotport-Hamiltonian with dissipation (pHd)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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