Nonlinear Motion Control of CPG-based Movement with Applications to a Class of Swimming Robots

In bio-inspired robotics, use of a Central Pattern Generator (CPG) to coordinate actuation is fairly common. The gait achieved depends on a number of CPG parameters, which can be adjusted to control the robot's motion. This paper presents an output feedback motion control framework, addressing issues encountered when dealing with this type of control problem, including partial state measurements and system uncertainty. Efficacy of the presented approach is illustrated by results of numerical simulations in the case of a swimming robot.


Published in:
2011 50Th Ieee Conference On Decision And Control And European Control Conference (Cdc-Ecc), 6331-6336
Presented at:
50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Orlando, FL, Dec 12-15, 2011
Year:
2011
Publisher:
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa
ISBN:
978-1-61284-801-3
Keywords:
Laboratories:




 Record created 2012-06-25, last modified 2018-01-28


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