Sitting Down and Standing Up Motion of Sauro-Emu with Manipulator Motions.

摘要

The porpuse of our reseach is to show the realization of non-stationary motions (sitting down and standing up motion, and manipulator motions, etc.) for a biped walking robot. We have proposed a design method for non-stationary motions before, and we have shown that the resultant control system had a property of a kind of robustness against some modeling error theoretically. In this paper, we report that we developed an experimental apparatus named Sauro-Emu that is able to realize the sitting down and standing up motion with manipulator motions. Through some experiments, we show the effectiveness of our control scheme.