3D motion control of 2 links (5 D.O.F.) underactuated manipulator named AcroBOX

Miyashita, Naoki; Kishikawa, M.; Yamakita, Masaki

doi:10.1109/acc.2006.1657618

Cited by 13 publications

(9 citation statements)

References 6 publications

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“…However, it is simpler, and it applies to general planar robots. Compared with the typical approach to balance control in the control theory literature, as exemplified by Grizzle et al (2005), Miyashita et al (2006) and Yonemura and Yamakita (2004), the new controller is a four-term controller using full state feedback, rather than a three-term output-zeroing controller with a one-dimensional zero dynamics. Another difference is that the new controller requires only the numeric values of the coefficients of a general equation of motion, such as can be calculated by standard dynamics software, whereas the typical approach is to start with the symbolic equations of motion of a particular robot.…”

Section: Introductionmentioning

confidence: 99%

A simple model of balancing in the plane and a simple preview balance controller

Featherstone

2017

The International Journal of Robotics Research

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This paper presents a new model of the dynamics of a general planar robot balancing on a point in the plane, in which the essential parameters of the robot’s balancing behaviour are reduced to just two numbers, both of which are simple functions of basic physical properties of the robot mechanism. A third number describes the effect of other movements on the robot’s balance. This model gives rise to a simple preview balance controller consisting of a four-term control law with easily calculated gains and a reverse-time low-pass filter acting on a preview of the command signal. The filter makes the robot lean in anticipation of future movements. Simulation results are presented showing the balance controller achieving excellent tracking of large fast motion commands while simultaneously maintaining the robot’s balance and accurately rejecting disturbances caused by other motions being performed by the robot. The controller is also robust to effects such as actuator saturation and sensor noise.

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Section: Introductionmentioning

confidence: 99%

A simple model of balancing in the plane and a simple preview balance controller

Featherstone

2017

The International Journal of Robotics Research

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“…In this subsection, a modified control method is introduced. The method is similar to the one given in [9]. …”

Section: B Sagittal Planementioning

confidence: 95%

Realization of acrobatic turn via wheelie for a bicycle with a balancer

Okawa

Keo

Yamakita³

2009

2009 IEEE International Conference on Robotics and Automation

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Since unmanned bike robots have high mobility and do not require wide contact space to the ground, it is expected that they will be used as one kind of the robots working in disaster areas and/or in the mountains. We are developing one of the unmanned bike robot systems with a balancer and it can do a wheelie and move to track the path in the ground plane. In this paper, we propose a control strategy to perform an acrobatic turn with wheelie motion, which can be quick and require minimum contact space for a bicycle by using nonlinear control based on the outputzeroing controller. The dynamic models of the bicycle with the balancer are derived from Lagrangian's equations and they are combined by Lagrange's multiplier according to nonholonomic and holonomic constraints between subsystems. The effectiveness of the proposed method is shown by several numerical simulations using a detail model of a bicycle.

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“…More global approaches include swing-up control combined with local linear control [15], [25], energy shaping in the controlled Lagrangian, controlled Hamiltonian formulations [26], [27], [28], or else interconnection and damping assignment passivity based control [29], [30]. Energy shaping and involve the solution of complex matching conditions to insure equivalence of the system Lagrangians or Hamiltonians with their controlled reduced counterparts and passivitybased approaches meet with the difficulty of the analytical construction of dissipation terms.…”

Section: Previous Approaches To Balance Controlmentioning

confidence: 99%

“…A literature search on studies of the control of the standing posture reveals literally thousands of entries, and yet, while a number of models have been proposed in the plane, both in the biological and in the robotics literature, to the knowledge the authors, no model, save one [15], consider stabilization in space of a standing animal or machine, which is the subject of this article.…”

Section: Introductionmentioning

confidence: 99%

Stabilization of the spatial double inverted pendulum using stochastic programming seen as a model of standing postural control

Xinjilefu

Hayward

Michalska

2009

2009 9th IEEE-RAS International Conference on Humanoid Robots

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Abstract-The stabilization of a double inverted pendulum moving in a three dimensional space may be considered to be a model of a human -and of other animals -postural control. Here, we show that postural control is possible by on-line minimization of the system Lagrangian. An stochastic programming procedure proves to be able to find oscillatory inputs that bring the system close to the unstable upright equilibrium position. In conclusion, our study demonstrates that steering complex mechanical systems may in certain cases be actually be simpler than expected.

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3D motion control of 2 links (5 D.O.F.) underactuated manipulator named AcroBOX

Cited by 13 publications

References 6 publications

A simple model of balancing in the plane and a simple preview balance controller

A simple model of balancing in the plane and a simple preview balance controller

Realization of acrobatic turn via wheelie for a bicycle with a balancer

Stabilization of the spatial double inverted pendulum using stochastic programming seen as a model of standing postural control

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