Proceedings of the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
巻, 号, ページ
pp. 377-378
出版年月
2011年5月17日
出版者
和文:
英文:
会議名称
和文:
第55回システム制御情報学会研究発表講演会
英文:
the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
開催地
和文:
大阪
英文:
Osaka
アブストラクト
This paper describes the rising up motion control for Denguribot. Denguribot is the Acrobot composed of 2 links with curved contours. The purpose of the rising up motion is to move Denguribot from a low energy state like "sitting" to a high energy state like "standing". The control strategy is pumping up the system energy by swinging links. To swing links, the relative angle between 2 links is tracked to the reference function of the relative angle by utilizing output zeroing control.
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