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Nonlinear feedback in simple locomotion systems |
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| Authors: | Hemami H. Camana P. |
| Affiliation: | Ohio State University, Columbus, OH, USA; |
| Abstract: | The purpose of this short paper is to analyze postural stability and periodic motion of a simple model of a locomotion system. Nonlinear feedback is used to linearize the system. The effects of discretization, quantization and noise are studied via simulation of a compound inverted pendulum with realistic actuator models. |
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