Giant swing via forward upward circling of the Acrobat-robot
Giant swing via forward upward circling of the Acrobat-robot
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通过 Acrobat 机器人向前向上旋转实现巨大摆动
DOI：
10.1109/acc.2001.946425
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
M. Yamakita
中科院分区：
文献类型：
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作者：
Y. Michitsuji;H. Sato;M. Yamakita
Acrobat 机器人是一种重力作用下的三连杆欠驱动机械系统，被认为是单杠体操运动员的模型。本文讨论了该系统执行各种技巧动作，如从下垂状态摆动、向前向上盘旋和巨大摆动。这些运动是通过实施基于模型和启发式控制方法来实现的，同时明确考虑每个关节角度的限制。所提出的方法利用了自由度，并显示出与双链接 Acrobat 控制的主要区别。实验研究也验证了上述控制方法的有效性。
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.