DocumentCode
320980
Title
Nonlinear gain scheduling control of legged robot EMU-experimental result
Author
Osuka, Koichi ; Kinugasa, Tetsuya ; Ono, Toshiro
Author_Institution
Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan
Volume
3
fYear
1997
fDate
7-11 Sep 1997
Abstract
This paper shows the realization of sitting-down and standing-up motion of a legged robot. We present a new design method of nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then, through some experiments, we show the effectiveness of our control scheme
Keywords
legged locomotion; mobile robots; motion control; nonlinear control systems; robot kinematics; time-varying systems; gain scheduling control; legged robot; motion control; nonlinear control systems; sitting-down motion; standing-up motion; time varying systems; Control systems; Design methodology; Equations; Legged locomotion; Mechanical systems; Motion control; Nonlinear control systems; Robot control; Systems engineering and theory; Time varying systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.656806
Filename
656806
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