DocumentCode
2328498
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
fYear
1994
fDate
8-13 May 1994
Firstpage
149
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.350996
Filename
350996
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