Nonlinear gain scheduling control of legged robot Emu

The purpose of this paper is to show the realization of sitting-down and standing-up motion of a legged robot. In this paper, we present a new design method of a nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then we show that the resultant control system has a property of a kind of robustness against some modeling error theoretically. Furthermore, we developed an experimental apparatus named Emu-I that is able to realize the sitting-down and standing-up motion. Through some experiments, we show the effectiveness of our control scheme