Title :
Stability of a one legged robot using μ-synthesis
Author :
Pannu, Satinder ; Becker, Greg ; Kazerooni, H.
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
The focus of this paper is to investigate the feasibility of stabilizing an underactuated double inverted pendulum. This preliminary investigation is motivated by the desire to construct a two-legged walking robot. The pendulum represents a single leg in a walking robot. The design of a stabilizing controller using a μ-synthesis approach is explained in detail and conditions for controllability and observability of the system are given
Keywords :
control system synthesis; controllability; legged locomotion; observability; stability; μ-synthesis; controllability; observability; one legged robot; stability; stabilizing controller; two-legged walking robot; underactuated double inverted pendulum; Belts; DC motors; Equations; Leg; Legged locomotion; Linear systems; Pulleys; Stability; Torque; Vectors;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525363
