Opening book details…
Can I read 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) on EtoBox?
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) by Martin V, Joseph B. (author);Kamidi, Vinay R. (author);Pandala, Abhishek (author);Fawcett, Randall T. (author);Akbari Hamed, Kaveh (author) is a nonfiction available to read on EtoBox.
What is 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) about?
This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controllers can initiate locomotion from zero velocity. Motivated by this property, we investigate the stability guarantees that can be provided by the time-varying approach. In particular, we systematically establish necessary and sufficient conditions that guarantee exponential stability of periodic orbits for time-varying hybrid dynamical systems utilizing the Poincaré return map. Leveraging the results of the presented proof, we develop time-varying virtual constraint controllers to stabilize bounding gaits of a 14 degree of freedom planar quadrupedal robot, Minitaur. A framework for choosing the parameters of virtual constraint controllers to achieve exponential stability is shown, and the feasibility of the analytical results is numerically validated in full-order simulation models of Minitaur.
Who reads 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)?
It is typically read by self-directed learners exploring a subject in depth.
Common subject areas: history, science, philosophy, social sciences.
- Author
- Martin V, Joseph B. (author);Kamidi, Vinay R. (author);Pandala, Abhishek (author);Fawcett, Randall T. (author);Akbari Hamed, Kaveh (author)
- Publisher
- IEEE
- Published
- 2020
- Language
- EN
- Category
- nonfiction