DocumentCode
299915
Title
Stability of a one legged robot using μ-synthesis
Author
Pannu, Satinder ; Becker, Greg ; Kazerooni, H.
Author_Institution
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
685
Abstract
The focus of this paper is to investigate the feasibility of stabilizing an underactuated double inverted pendulum. This preliminary investigation is motivated by the desire to construct a two-legged walking robot. The pendulum represents a single leg in a walking robot. The design of a stabilizing controller using a μ-synthesis approach is explained in detail and conditions for controllability and observability of the system are given
Keywords
control system synthesis; controllability; legged locomotion; observability; stability; μ-synthesis; controllability; observability; one legged robot; stability; stabilizing controller; two-legged walking robot; underactuated double inverted pendulum; Belts; DC motors; Equations; Leg; Legged locomotion; Linear systems; Pulleys; Stability; Torque; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525363
Filename
525363
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