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Nonlinear gain scheduling control of legged robot EMU-experimental result

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3 Author(s)
Osuka, K. ; Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan ; Kinugasa, T. ; Ono, T.

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

Published in:

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

7-11 Sep 1997