Liquid handling control for service robot by hybrid shape approach

Humanoids are expected to be placed in the restaurant as service robots considering the liquid suppression control. This paper proposed a gain scheduling hybrid control to suppress sloshing. It is based on hybrid shape controller proposed in our former work. However, in order to design the controller by former method, natural frequencies had to be known in advance. In this study, the natural frequencies would be obtained from the measurement with force sensor. Then appropriate parameters of the controller are given by solving optimization problem.