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Title
Japanese:角運動量と同期する出力関数構造を用いた4-link Robotの着地制御 
English:Landing Motion Control for 4-link Robot via Zero Dynamics with angular Momentum Synchronized Structure 
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. 801-808
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 landing motion 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. The output functions are designed based on the synchronization structure with the angular momentum about the ground contact point. This helps to control the angular transient motion until the model is stabilized and analyze the remaining zero dynamics when the output is achieved. A stable landing is accomplished by designing the stable zero dynamics. The controller is verified through numerical simulations.

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