Sitting down and standing up motion of Sauro-Emu with manipulator motions

摘要

The purpose of our research is to show the realization of nonstationary motions (sitting down and standing up motion, and manipulator motions, etc.) for a legged robot. We have previously (1994) proposed a design method for nonstationary motions, 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.