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Landing control of Acrobat Robot satisfying various constraints

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2 Author(s)
T. Sadahiro ; Tokyo Inst. of Technol., Japan ; M. Yamakita

The COE 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.

Published in:

SICE 2002. Proceedings of the 41st SICE Annual Conference  (Volume:4 )

Date of Conference:

5-7 Aug. 2002