Non-Linear Control of a Certain Legged Robot Emu.

摘要

In this paper, we consider about a non-linear control scheme of a legged robot called Emu which we are going to develop. The main purpose of this paper is to ensure a kind of stability during the Emu standing-the Emu standing -up or sitting-down very slowly. The important point of our consideration is the following ; (a) we treat the system as a slowly varying system and utilize a concept of frozen system, (b) we applied the exact linearization mehod to the frozen system. The stability is guaranteed by Lyapunov's Theory. The effectiveness of our method is shown by a simulation.