Non-Linear Control of a Certain Legged Robot Emu

Autor:	Tetsuhide Oka, Toshiro Ono, Koichi Osuka
Rok vydání:	1994
Předmět:	Lyapunov function Scheme (programming language) Engineering business.industry Stability (learning theory) Control engineering Nonlinear control symbols.namesake Control theory Linearization symbols Point (geometry) Legged robot business computer computer.programming_language
Zdroj:	Journal of the Robotics Society of Japan. 12:638-644
ISSN:	1884-7145 0289-1824
DOI:	10.7210/jrsj.12.638
Popis:	In this paper, we consider about a non-linear control scheme of a legged robot called Emu which we are going to develop. The main purpose of this paper is to ensure a kind of stability during the Emu standing-the Emu standing -up or sitting-down very slowly. The important point of our consideration is the following ; (a) we treat the system as a slowly varying system and utilize a concept of frozen system, (b) we applied the exact linearization mehod to the frozen system. The stability is guaranteed by Lyapunov's Theory. The effectiveness of our method is shown by a simulation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e0c25dd0ec9a1278f9bcf0a6921e8b80 https://doi.org/10.7210/jrsj.12.638 Zobrazit plný text záznamu