Home >

news Help

Publication Information


Title
Japanese:Transeverse Linearizationを用いたDenguribotによる周期運動安定化 
English: 
Author
Japanese: 吉田峰由生, 三平満司, Anton Shiriaev.  
English: Mineyuki Yoshida, MITSUJI SAMPEI, Anton Shiriaev.  
Language Japanese 
Journal/Book name
Japanese:第11回制御部門大会 
English: 
Volume, Number, Page         16733
Published date Mar. 2011 
Publisher
Japanese: 
English: 
Conference name
Japanese:第11回制御部門大会 
English: 
Conference site
Japanese:沖縄、日本 
English: 
Abstract The objective of this paper is the periodic rolling motion control for the Denguribot. The Denguribot is the Acrobot composed of 2 links with the curved contour. The outer contour of links is shaped from the arc whose radius is defferent by the tip and the sidepiece of the link. It is one of simple models of human rolling motions. The controller is designed based on input-output linearization, output zeroing control and transeverse linearization. The periodic rolling motion is realized in numerical simulation.

©2007 Tokyo Institute of Technology All rights reserved.