Conference Paper Back Bending Motion-based Rolling Control for Acrobot with Curved Contours

杉森, 敦人  ,  Sugimori, Atsuto  ,  村上, 尚人  ,  Murakami, Naoto  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  三平, 満司  ,  SAMPEI, MITSUJI

This paper proposes rolling motion control strategy for Acrobot composed of two links with curved contours.The present rolling control has a benefit of avoiding strong impact with the ground by introducing back bending motion.We first derive the mathematical model of Acrobot and propose control strategy by considering no strong impact condition.Then, we design a target path of the relative angle between two links based on the strategy by using bezier curves andachieve path following by applying output zeroing. Finally, we conduct an experiment for verification.

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