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Title
Japanese:Denguribotの起き上がり制御 
English:Rising up Motion Control of Denguribot 
Author
Japanese: 井口勇希, 三平満司, 関口和真.  
English: Yuki Iguchi, MITSUJI SAMPEI, Kazuma Sekiguchi.  
Language Japanese 
Journal/Book name
Japanese:第55回システム制御情報学会研究発表講演会論文集 
English: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.

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