Optimal Gaits for Mechanical Rectifier Systems

DOI10.1109/TAC.2010.2051074MaRDI QIDQ5347570zbMATH OpenFDO

Authors Justin Blair, Tetsuya Iwasaki

Publication date 25 August 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2010.2051074

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Robot dynamics and control of rigid bodies (70E60)

Cited in

(6)

• Neural control for coordinated natural oscillation patterns
• Trajectory control of snake-like robots in natural oscillation
• Exploiting natural dynamics for gait generation in undulatory locomotion
• Design of controllers with distributed central pattern generator architecture for adaptive oscillations
• Robustness analysis of locomotion controllers for mechanical rectifier systems in natural oscillation
• Feedback control for multiple stable limit cycles with arbitrary temporal shapes

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