脚ロボットEmuに対する非線形適応制御則について

―実験による有効性の確認―

抄録

In this paper, we propose a nonlinear adaptive control scheme for legged robot called Emu, which we are going to develop. We consider a control scheme which makes Emu stand upright. For the first step, we regard a 2 link inverted pendulum with unknown physical parameters as a simple model of Emu. We develop the control scheme in the following way. Firstly, we treat the parameters of the pendulum as known parameters. Then we design a nonlinear control scheme based on an exact linearization method. Next, we design a parameter estimation law based on the least square method. Finally, we combine the nonlinear control scheme with the parameter estimation law, and we yield the nonlinear adaptive control scheme. Furthermore we show that this scheme is effective by simulations and experiment.