DocumentCode
416809
Title
Robust landing control of acrobat robot
Author
Kishikawa, Masashi ; Sadahiro, Teruyoshi ; Yamakita, Masaki
Author_Institution
Tokyo Inst. of Technol., Japan
Volume
3
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
3064
Abstract
In this paper, we introduce a stabilization method of underactuated 3-link robots for landing control of an acrobat robot, i.e., we consider the acrobat robot standing on its toes as an unstable underactuated manipulator in the gravity field, and apply a stabilizing method to it. The validity of the algorithm is shown by numerical simulations.
Keywords
manipulators; mobile robots; position control; robust control; acrobat robot; robust landing control; stabilization method; underactuated 3-link robots; underactuated manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1323874
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