Super Mechano-Systems: Fusion of control and mechanism

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 15, Issue 1, 2002, Pages 25-34

  Furuta, Katsuhisa ^a  

^a TOKYO DENKI UNIVERSITY   (Japan)

Author keywords

Artificial gravity; Biped walking; Nonlinear control; Pendulum control; Projection method; Super Mechano Systems; Virtual gravity

Indexed keywords

AUTOMATION; ENGINEERING EDUCATION;

ARTIFICIAL GRAVITY; BIPED WALKING; NON LINEAR CONTROL; PENDULUM CONTROL; PROJECTION METHOD; VIRTUAL GRAVITIES;

PENDULUMS;

EID: 84945584425     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.01637     Document Type: Conference Paper

References (41)

1. Acosta, J. A., F. Gordillo and J. Aracil (2001). A new sg law for swinging the furuta pendulum. The 5th IFAC Nolcos'01 3, 818-823.
2. Arczewski, K. and W. Blajer (1996). A unified approach to the modeling of holonomic and non-holonomic mechanical systems. Mathematical Modeling of Systems 2(2), 157-174.
3. Asano, F. and M. Yamakita (2001). Extended passive velocity field control with variable velocity fields for a kneed biped. Advanced Robotics 15(2), 139-168.
4. Astrom, K. J. and K. Furuta (1996). Swinging-up a pendulum by energy control. Proc IFAC Congress E, 37-95.
5. Blajer, W. (1992). A projection method approach to constrained dynamic analysis. Journal of Applied Mechanics 59, 643-649.
6. Cambrini, L., C. Chevallereau, C.H. Moog and R. Stojic (2000). Stable trajectory tracking for biped trobot. 39th IEEE Conference on Decision and Control 1, 4815-4820.
7. Chung, C. C. and J. Hauser (1995). Nonlinear control of a swinging pendulum. Automatica 31, 851-862.
8. Date, H., Y. Hoshi, M. Samepi and S Nakaura (2001). Locomotion control of a snake robot with constraint force attenuation. American Control Conference pp. 113-118.
9. Endo, G. and S. Hirose (1999). Study on roller walker. TITech COE/SMS Workshop'99 pp. 153-160.
10. Fantoni, I. and R. Lozano (2001). Stabilization of the furuta pendulum around its homoclinic orbit. The 5th IFAC Nolcos'01 3, 830-835.
11. Furuta, K. and M. Wongsaisuw (1995). Discrete-time lqg dynamic controller design using plant markov parameters. Automatica 31(9), 1317-1324.
12. Furuta, K. and Y. Pan (2000). Variable structure control with sliding sector. Automatica 36(2), 211-228.
13. Furuta, K. and Y. Xu (2001). Super machano-systems project. Advanced Robotics 15(2), 111-123.
14. Furuta, K., M. Yamakita and S. Kobayashi (1993). Swing-up control of inverted pendulum using pseudo-state feedback. Proc Instn Mech Engrs 206, 263-269.
15. Furuta, K., M. Yamakita, S. Kobayashi and M. Nishimura (1991). A new inverted pendulum apparatus for education. 2nd IFAC Symposium on Advances in Education pp. 191-196.
16. Furuta, K., T. Ochiai and N. Ono (1984). Attitude control of a triple inverted pendulum. International Journal of Control 39, 1351-1365.
17. Goswami, A., B. Espiau and A. Keramane (1996). Compass-like biped robot part i: Stability and bifurcation of passive gaits. Research report INRIA.
18. Grizzle, J. W. (2001). An analytical approach tobasymptotically stable walking in planar biped robots. TITech COE/SMS Symposium 2001 pp. 21-28.
19. Grizzle, J. W., G. Abba and F. Plestan (2001). Asymptotically stable walking for biped robots. IEEE Trans. Automatic Control 46(1), 46-64.
20. Hara, S., M. Nishio and T. Maruyama (1999). Integrated design for high robust performance with quick time-response. International Conference on Control Applications pp. 176-181.
21. Hirose, S., R. Damoto and A. Kawakami (2000). Study of super mechano-colony. TITech COE/SMS Symposium 2000 pp. 83-94.
22. Hoshino, T., H. Kawai and K. Furuta (2000). Stabilization of the triple spherical inverted pendulum - a simultaneous design approach. Autommatisierungstechnik 48, 577-587.
23. Ikeda, T., Y. Iwatani, K. Suge and T. Mita (1999). Analysis and design of running robots in touchdown phase. International Conference on Control Applications pp. 501-502.
24. Iwasaki, T. (1999). Integrated system design by separation. International Conference on Control Applications pp. 97-102.
25. ∞ control of nonlinear systems: A convex characterization. IEEE Trans. Automatic Control 40(9), 1668-1675.
26. Matsuno, F. and K. Mogi (2000). Redundancy controllable system and control of snake robots based on kinematic model. 39th IEEE Conference on Decision and Control pp. 4791-4796.
27. McGeer, T. (1990). Passive dynamic walking. The Int. J. of Robotics Research 9, 62-82.
28. Michitsuji, Y., H. Sato and M. Yamakita (2001). Giant swing via forward upward circling of the acrobat-robot. American Control Conference pp. 3262-3267.
29. Miyazaki, M., M. Sampei, M. Koga and A. Takahashi (2000). A control of underacutuated hopping gait systems: Acrobat example. 39th IEEE Conference on Decision and Control pp. 4797-4802.
30. Mori, S., H. Nishihara and K. Furuta (1976). Control of unstable mechanical systems: Control of pendulum. International Journal of Control 23, 673-692.
31. Mracek, C. P. and J. R. Cloutier (1996). A preliminary control design for the nonlinear benchmark problem. IEEE Conference on Control Applications pp. 265-272.
32. Ohta, H., M. Yamakita and K. Furuta (2001). From passive to active dynamic walking. International Journal of Robust and Nonlinear Control 11, 287-303.
33. Prautsch, P. and T. Mita (1999). Control and analysis of the gait of snake robots. International Conference on Control Applications pp. 496-507.
34. Saeki, M. (1993). Nonlinear controller design for inverted pendulum and exact linearization method. Trans. Instrument and Control Engineers 29(4), 491-493.
35. Spong, M. W. (1999). Passivity based control of the compass gait biped. IFAC World Congress 1999 B-1d-01-4, 1-4.
36. Spong, M. W., R. Lozano and R. Mahony (2000). An almost linear biped. 39th IEEE Conference on Decision and Control 1, 4803-4808.
37. Suzuki, S., A. Sugiki and K. Furuta (In preparation). Swing-up of double pendulum by nonlinear control. In preparation.
38. Takegaki, M. and S. Arimoto (1981). A new feedback method for dynamic control of manipulators. ASME J. Dyn. Syst. Meas. Control 103, 119-125.
39. Wiklund, M., A. Kristenson and K. J. Astrom (1993). A new strategy for swing-up an inverted pendulum. Proc IFAC Congress 9, 151-154.
40. Xu, Y., M. Iwase and K. Furuta (2001). Time optimal swing-up control of single pendulum. J. of Dynamic Systems, Measurement and Control, Trans. ASME 123, 518-527.
41. Yamakita, M. and K. Furuta (1999). Toward robust state transfer control of titech double pendulum. The Astrom Symposium on Control ed. by Wittenmark and Rantzer pp. 73-269.