On Nonlinear Control of Legged Robot with Arms

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  • 腕を有する脚ロボットの非線形制御について
  • ウデ オ ユウスル アシロボット ノ ヒセンケイ セイギョ ニ ツイテ

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Abstract

In this paper, we consider the control of biped robot with arms and head named Emu which we are going to develop. We especially focus on the stand-up and sit-down motion of Emu. In this paper, for the first step, we regard Emu as a simple but special 2 link time varying inverted pendulum, and we develop a control scheme which makes Emu can stand-up or sit-down at a low speed. We developed this control scheme in the following way. Firstly, we regard the parameters of the lower link except the mass such as the length and the moment of inertia as time-varying parameters which vary slowly. Then, we treat the system as a slowly varying system. With this consideration, we can consider the lower link is nearly equal to a link which consists of many moving links. Next, we design a non-linear control scheme for the frozen system which is obtained by considering the time-varying parameters as constant parameters. Furthermore using Lyapunov's theory, we confirm this non-linear control scheme is effective to the original slowly varying system, that is, to Emu. Finally, we developed a simple experimental system and through a certain simulation and an experiment we show the realizability of our method.

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