Abstract
The previous chapters described modeling and analysis techniques for walking robots, and showed how to find energy-efficient, natural gaits for several walking robots. By construction, these trajectories require little torque, and hence they could be implemented quite efficiently by putting local controllers (for example PID controllers) on the joints that force the joint angles to track the computed reference trajectories as time-varying setpoints. The global control problem is thus split into local one-dimensional tracking problems.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Duindam, V., Stramigioli, S. (2009). Control of Walking Robots. In: Modeling and Control for Efficient Bipedal Walking Robots. Springer Tracts in Advanced Robotics, vol 53. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89918-1_5
Download citation
DOI: https://doi.org/10.1007/978-3-540-89918-1_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89917-4
Online ISBN: 978-3-540-89918-1
eBook Packages: EngineeringEngineering (R0)