Landing Control of Acrobat Robot Satisfying Various Constraints

Teruyoshi Sadahiro; Masaki Yamakita

doi:10.11499/sicep.2002.0.559.0

SICE Annual Conference Program and Abstracts

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.559.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Landing Control of Acrobat Robot Satisfying Various Constraints

Teruyoshi Sadahiro, Masaki Yamakita

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Keywords: Acrobat Robot, Linear Complementary Problem, Landing Control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 559

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Abstract

The C.O.E. acrobat robot is considered as a model of a gymnast with a horizontal bar. Our final objective is to perform skillful motions with the system same as a gymnast. In this paper, we consider the landing control after actions on the horizontal bar using a linear complementarity problem. We also consider a parameter estimation using the relationship between Lagrange multiplier and sensitivity of the constrained system.

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