Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Motion Control of Legged Robot Emu via Nonlinear Gain Scheduling Control
Koichi OSUKATetsuya KINUGASAToshiro ONO
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1998 Volume 11 Issue 6 Pages 341-355

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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 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.

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