DocumentCode
575407
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
fYear
2012
fDate
20-23 Aug. 2012
Firstpage
886
Lastpage
891
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location
Akita
ISSN
pending
Print_ISBN
978-1-4673-2259-1
Type
conf
Filename
6318566
Link To Document