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Title
Japanese:相対次数に基づく滑らかな目標経路設計による Denguribot の転がり運動の改善 
English: 
Author
Japanese: 関口和真, 三平満司.  
English: Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第55回自動制御連合講演会 論文集 
English: 
Volume, Number, Page         pp. 504-509
Published date Nov. 17, 2012 
Publisher
Japanese: 
English:第55回自動制御連合講演会実行委員会 
Conference name
Japanese:第55回自動制御連合講演会 
English: 
Conference site
Japanese:京都府 
English: 
Abstract In this paper, rolling motion of Denguribot that is rounded two-link robot is improved to performance. Rolling motion of Denguribot has been already achieved by using input-output linearization. In the previous research, reference paths for each phase of rolling motion are designed intuitively. As a result, the output zero is not kept at the phase transition and peaked input is required to control. This paper proposes smooth reference path with respect to the relative degree of the virtual output, and the validity of proposed method is verified via numerical simulation.

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