Abstract: This paper presents the solution of the linear discrete optimal control to achieve poles assigned in a circular region and, meanwhile, accommodate deterministic disturbances. It is shown that ...

Abstract: In this paper, the inverse kinematics and the foot force distributions of a planetary gear type quadrupedal walking machine are analyzed. This walking machine has four legs and each leg has ...

Abstract: This paper presents a description of the hardware and software systems used to achieve real-time computer control of locomotion in an experimental quadruped walking robot. This robot possesses ...