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A mechatronics appr...
A mechatronics approach to legged locomotion
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- Ragusila, Victor (author)
- Space Mechatronics Group, Aerospace Undergraduate Laboratories, University of Toronto Institute for Aerospace Studies
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- Emami, Reza (author)
- Space Mechatronics Group, Aerospace Undergraduate Laboratories, University of Toronto Institute for Aerospace Studies
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(creator_code:org_t)
- Piscataway, NJ : IEEE Communications Society, 2010
- 2010
- English.
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In: 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Montreal, Canada, 6-9 July 2010. - Piscataway, NJ : IEEE Communications Society. - 9781424480319 ; , s. 824-829
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- This paper describes a mechatronics methodology that allows the design of systems that are simple and intuitive to analyze and control. The primary application of this methodology is the design of a leg mechanism for a running robot. The approach first divides the system behaviour into several phases, and then finds Simple to Control Mechanisms (SCMs) that can achieve the desired performance in each phase. The mechanical element of the system is designed to emulate these SCMs. It is shown that simple controllers designed for the SCMs of the running robot leg can provide the desired system behaviour. © 2010 IEEE.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Keyword
- Onboard space systems
- Rymdtekniska system
Publication and Content Type
- ref (subject category)
- kon (subject category)
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