Unified approach for m-stability analysis and control of legged robots.

Jerome Foret Olivier Bruneau Jean-Guy Fontaine

Published in: IROS (2003)

Keyphrases

stability analysis
legged robots
inverted pendulum
stability margin
nonlinear systems
quadruped robot
mobile robot
adaptive control
legged locomotion
control system
fuzzy control
learning rate
control law
closed loop
feedback control
simulation study
process control
intelligent control
multi modal