Proceedings of the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
Volume, Number, Page
pp. 377-378
Published date
May 17, 2011
Publisher
Japanese:
English:
Conference name
Japanese:
第55回システム制御情報学会研究発表講演会
English:
the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
Conference site
Japanese:
大阪
English:
Osaka
Abstract
This paper describes the rising up motion control for Denguribot. Denguribot is the Acrobot composed of 2 links with curved contours. The purpose of the rising up motion is to move Denguribot from a low energy state like "sitting" to a high energy state like "standing". The control strategy is pumping up the system energy by swinging links. To swing links, the relative angle between 2 links is tracked to the reference function of the relative angle by utilizing output zeroing control.