The creation of the motion pattern attended with emergence using evolutional computation

In this paper, we describe swing-up and stability control of Acrobot, an inverted pendulum with two links. Controlling Acrobot is very difficult, since it suffers from non-holonomic constraints. Genetic algorithm (GA) is used as a controller of swing-up and stability control of Acrobot. Therefore, we propose a new method that the gene length is changeable. In addition, we discuss a new cost function for emergence. The proposed scheme compares with the zero dynamics method developed by M. Spong. The simulation results are exemplified to show the validity of the proposed scheme.