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Control of statically unstable legged vehicles

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Abstract

Studies that consider a legged machine walking with a statically unstable gait as a controlled system of solids with variable constraints are generalized. The motion of such a system is described by both differential and difference equations. The method of optimization of periodic systems is used to synthesize control algorithms for such systems. It is demonstrated that if the dynamic processes due to constraint variation are taken into account in the synthesis of a control system, then it is possible to substantially increase the performances of control algorithms and to reduce loads on actuating mechanisms.

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S.P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, Kiev. Translated from Prikladnaya Mekhanika, Vol. 36, No. 6, pp. 37–66, June, 2000

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Larin, V.B. Control of statically unstable legged vehicles. Int Appl Mech 36, 729–758 (2000). https://doi.org/10.1007/BF02681982

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