The swing up control using compliance

A large number of studies about a swing up control on a horizontal bar have been made, but compliance of a horizontal bar is ignored in their studies. This paper deals with the swing up control using compliance, and shows that proposed control law and the way of selecting physical parameters of a horizontal bar in consideration of compliance are effective. A feedback control to swing up by considering the energy of a link and the optimal trajectory to increase total mechanical energy of a link for one expansion motion is proposed. Advantage to use compliance is confirmed through numerical simulation.