{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:48:45Z","timestamp":1749221325723,"version":"3.37.0"},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":7007,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1990,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The global trajectory control of walking machines is addressed here with particular attention paid to the consequences of actuator redundancy for control and to the inclusion of actuator dynamics in trajectory controller design. Redundancy of actuation, typical of walking machines, results in the trajectory control problem being formulated perforce in a global coordinate frame, instead of the joint space, as in nonredundant manipulators. This lack of one-to-one correspondence between the degrees of freedom of motion in the global coordinate frame and the actuators results in coupling between the different trajectory control loops. A mechanism for reducing this coupling effect is proposed here, along with a procedure to take into account approximately the effect of actuator dynamics in designing the trajectory controllers. The proposed methods are evaluated by simulation for an example problem in legged locomotion and are shown to be effective.<\/jats:p>","DOI":"10.1017\/s026357470000727x","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:20:09Z","timestamp":1236691209000},"page":"13-22","source":"Crossref","is-referenced-by-count":5,"title":["Closed loop trajectory control of walking machines"],"prefix":"10.1017","volume":"8","author":[{"given":"J. F.","family":"Gardner","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K.","family":"Srinivasan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K. J.","family":"Waldron","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S026357470000727X_ref006","first-page":"205","volume-title":"Control of Manufacturing Processes and Robotic Systems","author":"Asada","year":"1983"},{"key":"S026357470000727X_ref005","unstructured":"5. An C. H. , Atkeson C. G. , Griffith J. D. and Hollerbach J. M. , \u201cExperimental Evaluation of Feedforward and Computed Torque Control\u201d Proc. IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, 165\u2013168 (04, 1987)."},{"volume-title":"Proc. USA-Japan Symposium on Flexible Automation","year":"1988","author":"Gardner","key":"S026357470000727X_ref019"},{"key":"S026357470000727X_ref018","unstructured":"18. Gardner J.F. , \u201cForce Distribution and Trajectory Control for Closed Kinematic Chains with Applications to Walking Machines\u201d Ph.D. Thesis (Department of Mechanical Engineering, The Ohio State University, 1987)."},{"volume-title":"Robot Analysis and Control","year":"1986","author":"Asda","key":"S026357470000727X_ref002"},{"key":"S026357470000727X_ref015","doi-asserted-by":"crossref","unstructured":"15. Kumar V. and Waldron K.J. , \u201cForce Distribution in Closed Kinematic Chains\u201d, Proc. IEEE International Conference on Robotics and Automation, Philadelphia, PA, 114\u2013119 (1988).","DOI":"10.1109\/ROBOT.1988.12034"},{"key":"S026357470000727X_ref016","first-page":"115","volume-title":"Proc. 1st Fluid Power National Educational Seminar","author":"Srinivasan","year":"1984"},{"key":"S026357470000727X_ref014","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087060"},{"key":"S026357470000727X_ref013","first-page":"315","volume-title":"Symposium on Robotics, Proc. ASME Winter Annual Mtg","author":"Gardner","year":"1988"},{"key":"S026357470000727X_ref004","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140645"},{"key":"S026357470000727X_ref008","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087045"},{"key":"S026357470000727X_ref012","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.1986.1105145"},{"key":"S026357470000727X_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087072"},{"key":"S026357470000727X_ref007","first-page":"253","volume-title":"Sensors and Controls for Automated Manufacturing and Robotics","author":"Good","year":"1984"},{"key":"S026357470000727X_ref011","doi-asserted-by":"crossref","unstructured":"11. Khorasani K. and Spong W. , \u201cInvariant Manifolds and their Application to Robot Manipulators with Flexible Joints\u201d Proc. International Conference on Robotics and Automation, St. Louis, MO., 978\u2013983 (03, 1985).","DOI":"10.1109\/ROBOT.1985.1087289"},{"key":"S026357470000727X_ref001","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"S026357470000727X_ref010","unstructured":"10. Spong M.W. , Khorasani K. and Dodotovic P.V. , \u201cA Slow Manifold Approach to Feedback Control of Nonlinear Flexible Systems\u201d Proc. American Control Conference, Boston, MA, 1386\u20131391 (06, 1985)."},{"key":"S026357470000727X_ref017","unstructured":"17. Pery A. , Gardner J.F. & Waldron K.J. , \u201cDesign and Testing of a High Performance Hydraulic Power System for a Legged Locomotion Application\u201d Proc. American Control Conference, Boston, MA, 730\u2013736 (1985)."},{"key":"S026357470000727X_ref003","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700102"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357470000727X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:56:25Z","timestamp":1738990585000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357470000727X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,1]]},"references-count":19,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1990,1]]}},"alternative-id":["S026357470000727X"],"URL":"https:\/\/doi.org\/10.1017\/s026357470000727x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1990,1]]}}}