Attitude Control of a Tumbler System with Multi-Joints Using a Gyroscope

摘要

In this paper, we describe the attitude control of a tumbler system (pendulum system) with three joints. This tumbler system has two purposes. One is experimental verification of various control strategies and another is the use as a model of the walking robot. It's advantage as the device for the experimental verification is its ability to treat from the SIMO system to the MIMO system. It's importance as a model of the walking robot exists in the biped locomotion on the unleveled land where one's feet are unstable. As the first step, we consider a pendulum system with fixed knee joints. Then, we design a stabilizing compensator for this pendulum system. The H∞ loop-shaping design procedure is applied in the design of the stabilization compensator. We herein report the experimental results of a control system.