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Title
Japanese: 
English:Back Bending Motion-based Rolling Control for Acrobot with Curved Contours 
Author
Japanese: 杉森 敦人, 村上 尚人, 伊吹 竜也, 三平 満司.  
English: Atsuto Sugimori, Naoto Murakami, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the SICE Annual Conference 2016 
Volume, Number, Page         pp. 711-714
Published date Sept. 20, 2016 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2016 
Conference site
Japanese: 
English:Tsukuba 
Abstract This paper proposes rolling motion control strategy for Acrobot composed of two links with curved contours. The present rolling control has a benefit of avoiding strong impact with the ground by introducing back bending motion. We first derive the mathematical model of Acrobot and propose control strategy by considering no strong impact condition. Then, we design a target path of the relative angle between two links based on the strategy by using bezier curves and achieve path following by applying output zeroing. Finally, we conduct an experiment for verification.

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