Dynamic modeling of a gymnast on a high bar-computer simulation and construction of a gymnast robot

Takashima, Suguru

doi:10.1109/iros.1990.262519

Cited by 10 publications

(1 citation statement)

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“…This paper shows an application of the Matsuoka oscillator to giant swing control of an underactuated, two-link pendulum (a horizontal bar gymnastic robot). A lot of attempts have been made to realize giant swing motion on a high bar [2,6,7,9,10]. Some of them devise heuristic control rules and others take some prescheduling methods in consideration of mechanical dynamics of the pendulum.…”

Section: Introductionmentioning

confidence: 99%

A giant swing robot using a neural oscillator

Matsuoka

Ohyama

Watanabe

et al. 2006

International Congress Series

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Section: Introductionmentioning

confidence: 99%

A giant swing robot using a neural oscillator

Matsuoka

Ohyama

Watanabe

et al. 2006

International Congress Series

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Control of a Giant Swing Robot Using a Neural Oscillator

Matsuoka

Ohyama

Watanabe

et al. 2005

Lecture Notes in Computer Science

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The swing up control problem for the Acrobot

Spong

1995

IEEE Control Syst.

776

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nderactuated mechanical systems are those possessing fewer U actuators than degrees of freedom. Examples of such systems abound, including flexible joint and flexible link robots, space robots, mobile robots, and robot models that include actuator dynamics and rigid body dynamics together. Complex intemal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited by such systems, making the class a rich one from a control standpoint. In this article we study a particular underactuated system known as the Acrobot: a twodegree-of-freedom planar robot with a single actuator. We consider the so-called swing up control problem using the method of partial feedback linearization. We give conditions under which the response of either degree of freedom may be globally decoupled from the response of the other and linearized. This result can be used as a starting point to design swing up control algorithms. Analysis of the resulting zero dynamics as well as analysis of the energy of the system provides an understanding of the swing up

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Dynamic modeling of a gymnast on a high bar-computer simulation and construction of a gymnast robot

Cited by 10 publications

References 0 publications

A giant swing robot using a neural oscillator

A giant swing robot using a neural oscillator

Control of a Giant Swing Robot Using a Neural Oscillator

The swing up control problem for the Acrobot

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