• Kod.ICAIM1999


Prof. Daniel E. Koditschek

Dan’s Home

Kod*lab Menu



Internal Links (Login Required)



<< User’s Publications << Kod*lab Publications

A Hybrid Swing up Controller for a Two-link Brachiating Robot

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1999

Jun Nakanishi*, Toshio Fukuda†, and Daniel E. Koditschek
*:Dept. of Micro System Engineering, Nagoya University. Nagoya. Aichi, Japan
†:Center for Cooperative Research in Advanced Science and Technology. Nagoya University, Nagoya, Aichi, Japan
‡: Department for Electrical Engineering and Computer Science, University of Michigan, Michigan, USA
Full PDF | Penn ScholarlyCommons | IEEExplore

Abstract
      In this paper, we report on a “hybrid” scheme for regulating the swing up behavior of a two degree of freedom brachiating robot. In this controller, a previous “target dynamics” controller and a mechanical energy regulator are combined. The proposed controller guarantees the boundedness of the total energy of the system. Simulations suggest that this hybrid controller achieves much better regulation of the desired swing motion than the target dynamics method by itself.
BibTeX entry
@inproceedings{Nakanishi-ICAIM-1999
  author       = "Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek"
  title        = "A Hybrid Swing up Controller for a Two-link Brachiating Robot"
  publisher    = "IEEE"
  booktitle    = "Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics"
  pages        = "549-554"
  year         = "1999"
}

Copyright Kodlab, 2017