TY - JOUR
T1 - Design and control of a walking machine
AU - Subramanium, Narayanan
AU - Azarm, S.
AU - Tsai, L. W.
AU - Dayawansa, W. P.
AU - Farvardin, N.
AU - Tits, A.
PY - 1995
Y1 - 1995
N2 - This paper discusses the modeling and control design aspects of a Hexapod Walking Machine which is being built at the University of Maryland at College Park. We will discuss a scheme used for approximating the kinematic relationships in order to simplify the dynamic modeling, and for feedback linearization based control design in order to simplicity of implementation using a distributed computational architecture.
AB - This paper discusses the modeling and control design aspects of a Hexapod Walking Machine which is being built at the University of Maryland at College Park. We will discuss a scheme used for approximating the kinematic relationships in order to simplify the dynamic modeling, and for feedback linearization based control design in order to simplicity of implementation using a distributed computational architecture.
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M3 - Conference article
AN - SCOPUS:0029179565
SN - 0743-1619
VL - 2
SP - 1082
EP - 1086
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
T2 - Proceedings of the 1995 American Control Conference. Part 1 (of 6)
Y2 - 21 June 1995 through 23 June 1995
ER -