Title :
Control experiments on an underactuated robot with application to legged locomotion
Author :
Berkemeier, Matthew D. ; Fearing, Ronald S.
Author_Institution :
Boston Univ., MA, USA
Abstract :
Underactuated mechanisms provide significant challenges to the control engineer. In this paper a nonlinear tracking controller is applied to the underactuated Acrobot, a double pendulum with an actuator at only the second joint. Tracking of oscillatory trajectories with joint angle magnitude up to 85° was achieved. Applications to one-legged robot locomotion are described
Keywords :
legged locomotion; nonlinear control systems; position control; robots; tracking; Acrobot; control experiments; double pendulum; legged locomotion; nonlinear tracking controller; one-legged robot locomotion; oscillatory trajectories; underactuated robot; Aerospace control; Aerospace engineering; Foot; Hip; Hydraulic actuators; Legged locomotion; Manipulators; Mechanical engineering; Orbital robotics; Robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350996
