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Title
Japanese:非駆動関節拘束によるゼロダイナミクスを用いた4-link Robotの跳躍制御 
English:Jumping Motion Control for 4-link Robot via Zero Dyanamics based on Virtual Constraint on Unactuated Joint 
Author
Japanese: 石川 温人, 伊吹 竜也, 三平 満司.  
English: Atsuto Ishikawa, Tatsuya Ibuki, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第1回計測自動制御学会制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 794-800
Published date Mar. 4, 2014 
Publisher
Japanese: 
English: 
Conference name
Japanese:第1回計測自動制御学会制御部門マルチシンポジウム 
English: 
Conference site
Japanese:東京 
English:Tokyo 
Abstract This paper proposes a control strategy to achieve jumping motion by kicking the ground backward with a tiptoe for an underactuated planar robot. The model in this work consists of 4 links and is controlled by input-output linearization and output zeroing control. One output function is designed based on the virtual constraint on the unactuated joint. This leads to the remaining unstable zero dynamics when the output zeroing is achieved. Vertical jumping motion is accomplished designing the other output functions to synchronize the angles with the zero dynamics. The controller is verified through numerical simulations.

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