TY - GEN
T1 - An underactuated two-link-one-motor robot with dynamic mobility
AU - Takei, Toshinobu
AU - Yuta, Shin'ichi
PY - 2005
Y1 - 2005
N2 - We are interested in the dynamical mobility of a simple mechanism with two links and one-motor, which moves in one dimension. It can move with rotation of the lower link led by the swing of the upper link. We have developed a two-link-one-motor experimental robot, implemented a detailed simulation for this system which include backlash or shock in landing, and designed a non-linear feedback controller to realize one step stable motion of this mechanism.
AB - We are interested in the dynamical mobility of a simple mechanism with two links and one-motor, which moves in one dimension. It can move with rotation of the lower link led by the swing of the upper link. We have developed a two-link-one-motor experimental robot, implemented a detailed simulation for this system which include backlash or shock in landing, and designed a non-linear feedback controller to realize one step stable motion of this mechanism.
KW - Dynamic motion
KW - Nonholonomic control
KW - Two-links-one-motor robot
UR - http://www.scopus.com/inward/record.url?scp=34547482761&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2005.1545514
DO - 10.1109/IROS.2005.1545514
M3 - Conference contribution
AN - SCOPUS:34547482761
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 3752
EP - 3757
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -