Title :
Control theoretical approach to motion control of legged robot
Author_Institution :
Dept. of Syst. Sci., Kyoto Univ., Japan
fDate :
29 Jun-1 Jul 1998
Abstract :
In this paper, we focus on the sitting down and standing up processes and show a new way of designing a control law for the procedure. Concretely, we design a nonlinear gain scheduling control law for a legged robot
Keywords :
control system synthesis; legged locomotion; motion control; nonlinear control systems; gain scheduling; legged locomotion; mobile robot; motion control; nonlinear control systems; Closed loop systems; Control system synthesis; Control systems; Gravity; Leg; Legged locomotion; Motion control; Process control; Robot control; Tail;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743475
