Design and control of a walking machine

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

Design and control of a walking machine

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

Department of Electrical and Computer Engineering

Tata Group India

Research output: Contribution to journal › Conference article › peer-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 language	English
Pages (from-to)	1082-1086
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	2
State	Published - 1995
Event	Proceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA Duration: 21 Jun 1995 → 23 Jun 1995

Cite this

@article{ed6b91f9caf148b6a413e0a1f3d63f46,

title = "Design and control of a walking machine",

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.",

author = "Narayanan Subramanium and S. Azarm and Tsai, \{L. W.\} and Dayawansa, \{W. P.\} and N. Farvardin and A. Tits",

year = "1995",

language = "English",

volume = "2",

pages = "1082--1086",

note = "Proceedings of the 1995 American Control Conference. Part 1 (of 6) ; Conference date: 21-06-1995 Through 23-06-1995",

}

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.

UR - https://www.scopus.com/pages/publications/0029179565

UR - https://www.scopus.com/pages/publications/0029179565#tab=citedBy

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 -

Design and control of a walking machine

Abstract

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