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
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;
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
DOI :
10.1109/IROS.1997.656806
