In this Chapter themain results related to locomotion control are reported. Theoretical results referring to Contraction theory are exploited to design reaction diffusion dynamical systems able to work as stable Central Pattern Generators for multipodal robotic structures. A series of strategies are also discussed referring to the control of migration through different locomotion patterns as well as to the steering control for trajectory planning. Relevant parameters are also outlined in view of their modulation for a low low-level feedback control. Both theoretical and experimental results are reported to verify the suitability of the approach.

CPG for motor control

Patane L.
2014-01-01

Abstract

In this Chapter themain results related to locomotion control are reported. Theoretical results referring to Contraction theory are exploited to design reaction diffusion dynamical systems able to work as stable Central Pattern Generators for multipodal robotic structures. A series of strategies are also discussed referring to the control of migration through different locomotion patterns as well as to the steering control for trajectory planning. Relevant parameters are also outlined in view of their modulation for a low low-level feedback control. Both theoretical and experimental results are reported to verify the suitability of the approach.
2014
978-3-319-02361-8
978-3-319-02362-5
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11570/3151064
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? ND
social impact