Name
Abstract | ||
|---|---|---|
This letter derives the basic concept of modal matching-an approach to natural motion control. Modal matching exploits the nonlinearity of the rigid multi-body dynamics (and the variability of the elastic transmissions) as degree of freedom to fit the natural plant dynamics to the desired dynamics of the task. Modal matching achieves a desired intrinsic oscillation behavior, which is locally equiv... |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/LRA.2016.2519601 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Oscillators,Dynamics,Heuristic algorithms,Legged locomotion,Actuators,Springs | Motion control,Degrees of freedom (statistics),Oscillation,Inverted pendulum,Nonlinear system,Jumping,Control theory,Control engineering,Inertia,Engineering,Modal | Journal |
Volume | Issue | ISSN |
1 | 1 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dominic Lakatos | 1 | 47 | 8.03 |
| Alin Albu-Schaffer | 2 | 2831 | 262.17 |