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DOE OSTI · 1331362

Alocomotino Control Algorithm for Robotic Linkage Systems

Dohner, Jeffrey L.
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Abstract

This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.

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97 MATHEMATICS AND COMPUTING

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BibTeXRIS

Dohner, Jeffrey L.. 2016-10-01. Alocomotino Control Algorithm for Robotic Linkage Systems. https://www.osti.gov/biblio/1331362

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