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Control of the motion of an acrobot approaching a horizontal bar

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Abstract:

In this paper, we consider the motion of a gymnast approaching a horizontal bar and focus on the acrobot. In the stance phase, we set the jump with a desired speed direction and a desirable angular momentum as the control objective, and achieve it by introducing an output feedback control with a suitably chosen output function. In the flight phase, a suitable desired trajectory enables us to control the posture when the acrobot approaches it. Finally, numerical simulations are shown to demonstrate this motion.

Keywords: ACROBOT; HOPPING SYSTEM; NONLINEAR CONTROL; ROBOTICS; UNDERACTUATED MECHANICAL SYSTEM

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855301750398365

Affiliations: 1: E-Applications Development Division, E-Business Services Operations Unit, Network Service Business Line, NEC Solutions, Japan 2: Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo Institute of Technology, 2-12-1 O-Okayama Meguro Tokyo, Japan 3: Department of Control Engineering and Science, Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka, Fukuoka, Japan

Publication date: July 1, 2001

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