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Nonlinear robust control of legged robot Emu
Description
This paper presents a new controller design method for a legged robot 'Emu' with a certain modeling errors. In this paper, using the exact linearization technique and a solution of a special type of Hamilton Jacobi inequality, a nonlinear robust control law is designed to make Emu keep standing. Through some experiments, we show the effectiveness of our control scheme.
Journal
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- Proceedings of the 36th IEEE Conference on Decision and Control
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Proceedings of the 36th IEEE Conference on Decision and Control 4 3676-3678, 2002-11-22
IEEE