Title :
An underactuated two-link-one-motor robot with dynamic mobility
Author :
Takei, Toshinobu ; Yuta, Shin´ichi
Author_Institution :
Sch. of Syst. & Inf. Eng., Tsukuba Univ., Japan
Abstract :
We are interested in the dynamical mobility of a simple mechanism with two links and one-motor, which moves in one dimension. It can move with rotation of the lower link led by the swing of the upper link. We have developed a two-link-one-motor experimental robot, implemented a detailed simulation for this system which include backlash or shock in landing, and designed a non-linear feedback controller to realize one step stable motion of this mechanism.
Keywords :
feedback; mobile robots; motion control; nonlinear control systems; robot dynamics; dynamic mobility; dynamic motion; nonholonomic control; nonlinear feedback controller; underactuated two-link-one-motor robot; Adaptive control; Control system synthesis; Control systems; Electric shock; Legged locomotion; Mobile robots; Motion control; Nonlinear dynamical systems; Robot control; Systems engineering and theory; dynamic motion; nonholonomic control; two-links-one-motor robot;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545514
