Control of the motion of an acrobot approaching a horizontal bar

Advanced Robotics

Volumn 15, Issue 4, 2001, Pages 467-480

  Miyazaki, M ^a   Sampei, M ^a   Koga, M ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Acrobot; Hopping system; Nonlinear control; Robotics; Underactuated mechanical system

Indexed keywords

COMPUTER SIMULATION; FEEDBACK CONTROL; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; ROBOTICS; SYSTEM STABILITY;

ACROBOT; HOPPING SYSTEM; UNDERACTUATED MECHANICAL SYSTEM;

MOBILE ROBOTS;

EID: 0034869993     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/156855301750398365     Document Type: Article

References (17)

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2. Nonlinear controllers for non-integrable systems: The acrobot example
3. Controller design for a class of underactuated nonlinear systems
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5. A control of a class of nonholonomic systems with drift using time-state control form
6. A new approach to the control of the planar one-legged hopper
7. A control strategy for stable passive running
8. Realization of bounce gait in a quadruped robot with articular-joint-type legs
9. Control of mechanical systems with second-order nonholonomic constraints: Underactuated manipulators
10. Feedback control of a 3-axis planar manipulator with a passive joint under a nonholonomic constraint
11. Tracking fast trajectories of the underactuated acrobot
12. Geometric phase and robotic locomotion
13. The geometric mechanics of undulatory robotic locomotion