IEEE - Institute of Electrical and Electronics Engineers, Inc. - Swing up control experiment aimed at energy interaction between the acrobot and compliance

SICE '07. 46th SICE Annual Conference

Author(s): M. Kanazawa ; R. Anami ; S. Nakaura ; M. Sampei
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2007
Conference Location: Takamatsu, Japan
Conference Date: 17 September 2007
Page(s): 1,236 - 1,241
ISBN (CD): 978-4-907764-27-2
DOI: 10.1109/SICE.2007.4421173
Regular:

This paper describes a swing up control experiment for an under-actuated two-link robot, the Acrobot, swinging on a high bar with compliance. Because the high bar is bending while a gymnast swings... View More

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