Title :
Robust landing control of acrobat robot
Author :
Kishikawa, Masashi ; Sadahiro, Teruyoshi ; Yamakita, Masaki
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
In this paper, we introduce a stabilization method of underactuated 3-link robots for landing control of an acrobat robot, i.e., we consider the acrobat robot standing on its toes as an unstable underactuated manipulator in the gravity field, and apply a stabilizing method to it. The validity of the algorithm is shown by numerical simulations.
Keywords :
manipulators; mobile robots; position control; robust control; acrobat robot; robust landing control; stabilization method; underactuated 3-link robots; underactuated manipulator;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
