Nonlinear gain scheduling control of legged robot Emu

The purpose of this paper is to show the realization of sitting-down and standing-up motion of a legged robot. In this paper, we present a new design method of a nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then we show tha...

Full description

Saved in:
Bibliographic Details
Published inProceedings of 35th IEEE Conference on Decision and Control Vol. 2; pp. 1672 - 1675 vol.2
Main Authors Osuka, K., Kinugasa, T., Ono, T.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 24.12.2002
Subjects
Control systems
Educational institutions
Equations
Gravity
Legged locomotion
Mechanical systems
Motion control
Robot control
System testing
Torque
Online AccessGet full text
ISBN9780780335905
0780335902
ISSN0191-2216
DOI10.1109/CDC.1996.572790

Cover

More Information
Summary:The purpose of this paper is to show the realization of sitting-down and standing-up motion of a legged robot. In this paper, we present a new design method of a nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then we show that the resultant control system has a property of a kind of robustness against some modeling error theoretically. Furthermore, we developed an experimental apparatus named Emu-I that is able to realize the sitting-down and standing-up motion. Through some experiments, we show the effectiveness of our control scheme.
ISBN:9780780335905
0780335902
ISSN:0191-2216
DOI:10.1109/CDC.1996.572790