Giant swing via forward upward circling of the Acrobat-robot

The Acrobat-robot, a three-link under-actuated mechanical system under gravity, is considered as a model of a gymnast on a horizontal bar. This paper deals with the system to perform various skillful motion such as swinging from pendant state, forward upward circling and giant swing. These motions are realized by the implementation of model based and heuristic control methods while considering the limits for each joint angles explicitly. The proposed method takes advantage of the freedom and shows a principal difference to the control for two-link Acrobat. The effectiveness of above control methods are also verified by experimental investigations