An underactuated two-link-one-motor robot with dynamic mobility

Toshinobu Takei, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3510-3515
Number of pages6
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB
Duration: 2005 Aug 22005 Aug 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CityEdmonton, AB
Period05/8/205/8/6

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Keywords

  • Dynamic motion
  • Nonholonomic control
  • Two-links-one-motor robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Takei, T., & Yuta, S. (2005). An underactuated two-link-one-motor robot with dynamic mobility. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 3510-3515). [1545514] https://doi.org/10.1109/IROS.2005.1545514