We have discussed a motion control of the legged robot Emu and we
realized some non-stationary motions (for example, some motions of a
robot sitting down and standing up, moving arms, standing upright, and
so on) of Emu as the results.
In the research, we implicitly assumed that Emu stands upright,
sits down and stands up on a level surface.
It is difficult, however, to prepare the surface because it inclined
probably in practice.
If we experiment in controlling Emu on the inclines plane under the
assumption that Emu moves on a level surface, Emu may fall down.
Therefore we focus on an attitude control of Emu on a ramp with
unknown slope.
According to the stability analysis, we found that our
proposed control system had a property of parametric stability.
We also verified a validity of the parametric stability through some
experiments.
ACC02 Proc. TM08-2
