Title: Swing-up controller for the Acrobot using skill of human movements

Authors: Tomohiro Henmi, Mingcong Deng, Akira Inoue

Addresses: Department of Electro-Mechanical Engineering, Takamatsu National College of Technology, 335 Chokushicho, Takamatsu 761-8058, Japan. ' Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan. ' Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-Naka, Okayama 700-8530, Japan

Abstract: In this paper, a control method to swing up the Acrobot, which is a model of horizontal bar gymnast, is proposed. In order to materialise the movement of the Acrobot as same as movement of human, the swing-up controller of the Acrobot with considering limitation of joint which is model of human hip is proposed. And from an analysis of the gymnastic technique called tap swing forward (TSF), the proposed swing-up controller can make the two links of the Acrobot do a human-like movement. That is, the desired value of angle of the second link is decided based on the movement of TSF technique, where the controller is based on the partial linearisation method. Numerical simulation and experimental result to swing up of the Acrobot are given to show the effectiveness of the proposed method.

Keywords: Acrobot; tap swing forward; TSF; horizontal bar gymnasts; constrained control; nonlinear control; swing-up control; human movements; human hip; modelling; simulation; robot control; mobile robots; human-like robots; robotic gymnastics.

DOI: 10.1504/IJMIC.2009.024462

International Journal of Modelling, Identification and Control, 2009 Vol.6 No.3, pp.222 - 229

Published online: 05 Apr 2009 *

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