Design and control of a walking machine

Narayanan Subramanium, S. Azarm, L. W. Tsai, W. P. Dayawansa, N. Farvardin, A. Tits

Research output: Contribution to journalConference articlepeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)1082-1086
Number of pages5
JournalProceedings of the American Control Conference
Volume2
StatePublished - 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: 21 Jun 199523 Jun 1995

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