DocumentCode
2530340
Title
Control theoretical approach to motion control of legged robot
Author
Osuka, Koichi
Author_Institution
Dept. of Syst. Sci., Kyoto Univ., Japan
fYear
1998
fDate
29 Jun-1 Jul 1998
Firstpage
88
Lastpage
92
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location
Coimbra
Print_ISBN
0-7803-4484-7
Type
conf
DOI
10.1109/AMC.1998.743475
Filename
743475
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