Title :
Sitting down and standing up motion of Sauro-Emu with manipulator motions
Author :
Kinugasa, Tetsuya ; Osuka, Koichi ; Ono, Toshiro
Author_Institution :
Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan
Abstract :
The purpose of our research is to show the realization of nonstationary motions (sitting down and standing up motion, and manipulator motions, etc.) for a legged robot. We have previously (1994) proposed a design method for nonstationary motions, and we have shown that the resultant control system had a property of a kind of robustness against some modeling error theoretically. In this paper, we report that we developed an experimental apparatus named Sauro-Emu that is able to realize the sitting down and standing up motion with manipulator motions. Through some experiments, we show the effectiveness of our control scheme
Keywords :
legged locomotion; manipulators; robust control; Sauro-Emu; manipulator motions; nonstationary motions; robustness; sitting down motion; standing up motion; Cities and towns; Control systems; Design methodology; Legged locomotion; Manipulators; Mechanical systems; Motion analysis; Motion control; Packaging; Robots;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727476
