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

Toshinobu Takei, Shin'ichi 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
PublisherIEEE Computer Society
Pages3752-3757
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

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

ASJC Scopus subject areas

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

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  • 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. 3752-3757). [1545514] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545514