Title :
Landing control of acrobat robot (SMB) satisfying various constraints
Author :
Sadahiro, Teruyoshi ; Yamakita, Masaki
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan
Abstract :
The COE acrobat robot, called SMB (Super Mechano-Boy), 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.
Keywords :
mobile robots; motion control; parameter estimation; robot dynamics; sensitivity analysis; COE; Lagrange multiplier; SMB; acrobat robot; landing control; linear complementarity problem; parameter estimation; sensitivity; super mechano-boy; Actuators; Friction; Humans; Kinetic energy; Lagrangian functions; Leg; Robot control; Robot kinematics; Robot sensing systems; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242054