Swing up control for the acrobot considering compliance of high bar and energy interaction with each component

This paper describes swing up control for the acrobot with the compliance of a high bar based on the energy pumping method. The energy interaction exists between a 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. In this paper, swing up control which considers the compliance and the energy interaction with each component is proposed, and the advantage and the disadvantage by using compliance are examined by comparing numerical simulations for with and without compliance cases.