DocumentCode :
2069479
Title :
Attitude control of legged robot Emu on ramp with unknown slope $verification of parametric stability by experiments
Author :
Kinugasa, Tetsuya ; Osuka, Koichi
Author_Institution :
Tsuyama Nat. Coll. of Tech, Okayama, Japan
Volume :
3
fYear :
2002
fDate :
2002
Firstpage :
2493
Abstract :
We have discussed a motion control of the legged robot Emu and we realized some non-stationary motions (for example, some motions of a robot sitting down and standing up, moving arms, standing upright, and so on) of Emu as the results. In the research, we implicitly assumed that Emu stands uptight, sits down and stands up on a level surface. It is difficult, however, to prepare the surface because it inclined probably in practice. If we experiment in controlling Emu on the inclines plane under the assumption that Emu moves on a level surface, Emu may fall down. Therefore we focus on an attitude control of Emu on a ramp with unknown slope. According to the stability analysis, we found that our proposed control system had a property of parametric stability. We also verified a validity of the parametric stability through some experiments.
Keywords :
attitude control; legged locomotion; mechanical stability; motion control; Emu; attitude control; legged robot; motion control; moving arms; parametric stability; standing up; standing upright; Arm; Control systems; Humanoid robots; Legged locomotion; Motion analysis; Motion control; Read only memory; Robot sensing systems; Stability analysis; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
ISSN :
0743-1619
Print_ISBN :
0-7803-7298-0
Type :
conf
DOI :
10.1109/ACC.2002.1024018
Filename :
1024018
Link To Document :
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