Title :
A control experiment of vertical jumping motion with 4links Robot
Author :
Ishikawa, Atsuto ; Sekiguchi, Kazuma ; Sampei, Mitsuji
Author_Institution :
Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
This paper presents a control experiment of a vertical jumping motion with 4links Robot. A target system consists of four links and three actuators placed on each joint between the links. This system is fullactuated at the initial step, but as the physical constraint varies in a process of a jumping motion, the system comes to be underactuated. With the control strategy overcoming these difficulties, we conduct experiments with 4links Robot and show the experimental results.
Keywords :
actuators; motion control; nonlinear control systems; robot kinematics; 4links robot; actuators; control experiment; control strategy; mechanical system control; nonlinear control; physical constraint; underactuated system; vertical jumping motion; Actuators; Equations; Gravity; Joints; Robots; Switches; Mechanical Systems Control; Nonlinear Control; Systems Theory and Engineering;
Conference_Titel :
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location :
Akita
Print_ISBN :
978-1-4673-2259-1
