{"title":"腿式机器人动车组非线性增益调度控制实验结果","authors":"K. Osuka, T. Kinugasa, T. Ono","doi":"10.1109/IROS.1997.656806","DOIUrl":null,"url":null,"abstract":"This paper shows the realization of sitting-down and standing-up motion of a legged robot. We present a new design method of nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then, through some experiments, we show the effectiveness of our control scheme.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Nonlinear gain scheduling control of legged robot EMU-experimental result\",\"authors\":\"K. Osuka, T. Kinugasa, T. Ono\",\"doi\":\"10.1109/IROS.1997.656806\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper shows the realization of sitting-down and standing-up motion of a legged robot. We present a new design method of nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then, through some experiments, we show the effectiveness of our control scheme.\",\"PeriodicalId\":408848,\"journal\":{\"name\":\"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-09-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1997.656806\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1997.656806","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Nonlinear gain scheduling control of legged robot EMU-experimental result
This paper shows the realization of sitting-down and standing-up motion of a legged robot. We present a new design method of nonlinear gain-scheduling-type control scheme for the sitting-down and standing-up motion of our legged robot called Emu. Then, through some experiments, we show the effectiveness of our control scheme.
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