Attitude control of a tumbler system with rotational joints using a gyroscope

Author

Okuyama, Yoshifumi ; Yabu, Atsuo ; Takemori, Fumiaki

Author_Institution

Dept. of Inf. & Knowledge Eng., Tottori Univ., Japan

Volume

2

fYear

1998

Firstpage

756

Abstract

We develop an unstable structure (a tumbler system with joints) that has circular arc type bottoms, which is a model of a biped walking robot. Its attitude is controlled by using a small gyroscope. This paper describes the design of the feedback control system which controls the attitude by supporting one of the leg and driving the crotch joints. The basic feedback control system is a one-input two-output (SIMO) system. The H_∞ control theory is used to design the compensator. The results of our experiment on the designed control system show that we successfully stabilized the control of the tumbler system with rotational joints

Keywords

H^∞ control; attitude control; compensation; control system synthesis; feedback; gyroscopes; legged locomotion; robust control; H_∞ control; attitude control; biped walking robot; compensator; feedback; gyroscope; robust control; rotational joints; stability; tumbler system; Attitude control; Control systems; Control theory; Feedback control; Gyroscopes; Knee; Leg; Legged locomotion; Robot control; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on

Conference_Location

Trieste

Print_ISBN

0-7803-4104-X

Type

conf

DOI

10.1109/CCA.1998.721560

Filename

721560