Control of a conected two-link mobility by one joint actuator

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 underactuated mechanism, and give means for aplication to a actual experimental machine, And, we show results of the moving motions in experiments by actual machine.