Nonlinear gain scheduling control of legged robot Emu

Author

Osuka, Koichi ; Kinugasa, Testuya ; Ono, Toshiro

Author_Institution

Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan

Volume

2

fYear

1996

fDate

11-13 Dec 1996

Firstpage

1672

Abstract

The purpose of this paper is to show the realization of sitting-down and standing-up motion of a legged robot. In this paper, we present a new design method of a nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then we show that the resultant control system has a property of a kind of robustness against some modeling error theoretically. Furthermore, we developed an experimental apparatus named Emu-I that is able to realize the sitting-down and standing-up motion. Through some experiments, we show the effectiveness of our control scheme

Keywords

control system synthesis; legged locomotion; motion control; nonlinear control systems; robust control; Emu legged robot; Emu-I; design method; modeling error; nonlinear gain scheduling control; robustness; sitting-down; standing-up; Control systems; Educational institutions; Equations; Gravity; Legged locomotion; Mechanical systems; Motion control; Robot control; System testing; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.572790

Filename

572790