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Title
Japanese: 
English:Rising up Motion Control of Denguribot 
Author
Japanese: 井口 勇希, 関口 和真, 三平 満司.  
English: Yuki Iguchi, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of SICE Annual Conference 2011 
Volume, Number, Page         pp. 1105-1110
Published date Sept. 13, 2011 
Publisher
Japanese: 
English:The Society of Instrument and Control Engineers (SICE) 
Conference name
Japanese: 
English:SICE Annual Conference 2011 
Conference site
Japanese:東京 
English:Tokyo 
Abstract This paper describes the rising up motion control for Denguribot. Denguribot is the Acrobot composed of 2 rounded links. The purpose of the rising up motion is to move Denguribot from a low energy state such as "sitting" to a high energy state such as "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 its reference function by utilizing output zeroing control. In this paper, designing of this function is mainly dealt in. Numerical simulations and experiments confirm the effectiveness of the proposed control strategy.

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