Control of a Conected Two-link Mobility by One Joint Actuator
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- TAKEI Toshinobu
- School of Systems and Information Engineering, University of Tsukuba
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- YUTA Shin'ichi
- 筑波大学機能工学系
Bibliographic Information
- Other Title
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- 一つの駆動関節により連結した棒状2リンクの移動制御
- ヒトツ ノ クドウ カンセツ ニ ヨリ レンケツシタ ボウジョウ 2 リンク ノ イドウ セイギョ
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Abstract
A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial condition, upper-body stands vertically and lower-body lies on the ground. This mechanism is expected to be able to move by swinging its upper body and rolling its lower-body, from that initial posture. In this paper, we propose some control laws and algorithms, for the model of this under-actuated mechanism, and give means for aplication to a actual experimental machine. And, we show results of the moving motions in experiments by actual machine.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 73 (729), 1400-1407, 2007
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001206388401536
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- NII Article ID
- 110006279395
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 8840269
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed