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タイトル
和文: 
英文:Back Bending Motion-based Rolling Control for Acrobot with Curved Contours 
著者
和文: 杉森 敦人, 村上 尚人, 伊吹 竜也, 三平 満司.  
英文: Atsuto Sugimori, Naoto Murakami, Tatsuya Ibuki, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of the SICE Annual Conference 2016 
巻, 号, ページ         pp. 711-714
出版年月 2016年9月20日 
出版者
和文: 
英文:SICE 
会議名称
和文: 
英文:SICE Annual Conference 2016 
開催地
和文: 
英文:Tsukuba 
アブストラクト 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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