Swing up control for acrobot with compliance of high bar focused on energy interaction with each component

This paper describes an experiment for swing up control for the acrobot with the compliance of the high bar based on the energy pumping method. The energy interaction exists between the gymnast and the high bar, because the high bar is bending during gymnastics. Therefore, more efficient motion would be constructed by controlling this energy interaction. Based on this probability, swing up control which considers the compliance and the energy interaction with each component is proposed. To confirm this discussion, an experiment using the acrobot is carried out, and the advantage and the disadvantage by using compliance are examined by comparing experimental results for with and without compliance case.