I show here the equation of motion for a robot. For a robot we have this well known equation where we have a non-linear mass term, a non-linear Coriolis and centripetal term, non-linear gravity term and you can also have non-linear friction terms. So, clearly this is a non-linear equation. And there is a possibility that in this non-linear equation also we can observe chaos. This talk is about whether such non-linear equations exhibit chaos in robots. In order to study this we look at the robot which is being controlled in two possible ways.

---