Alocomotino Control Algorithm for Robotic Linkage Systems
Thesis/Dissertation
·
OSTI ID:1331362
- Univ. of New Mexico, Albuquerque, NM (United States)
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.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE National Nuclear Security Administration (NNSA)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 1331362
- Report Number(s):
- SAND2016-11036T; 648781
- Country of Publication:
- United States
- Language:
- English
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