Attitude Control of Legged Robot Emu Using Constrained Ankle-Torque via Hybrid Control

• KINUGASA Tetsuya

  Department of Electronics and Control Engineering, Tsuyama National College of Technology

• OSUKA Koichi

  Graduate School of Informatics, Kyoto Univ.

• ONO Toshiro

  College of Eng., Osaka Pref. Univ.

Bibliographic Information

Other Title

• ハイブリッド制御による制約のある足首トルクを用いた脚ロボットEmuの姿勢制御
• ハイブリッド セイギョ ニ ヨル セイヤク ノ アル アシクビ トルク オ モチイタ キャク ロボット Emu ノ シセイ セイギョ

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 12 (9), 575-577, 1999

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• legged robot
• hybrid control
• constrained ankle-torque
• Lyapunov ellipsoid

Details

• CRID: 1390001205165423872
• NII Article ID: 10004473564
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.12.575
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 4870983
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4870983
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles