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

Fingerprint

Robots
Landing
Feedback
Controllers

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

An underactuated two-link-one-motor robot with dynamic mobility. / Takei, Toshinobu; Yuta, Shinichi.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 3510-3515 1545514.

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

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., 1545514, pp. 3510-3515, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, 05/8/2. https://doi.org/10.1109/IROS.2005.1545514
Takei T, Yuta S. An underactuated two-link-one-motor robot with dynamic mobility. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 3510-3515. 1545514 https://doi.org/10.1109/IROS.2005.1545514
Takei, Toshinobu ; Yuta, Shinichi. / An underactuated two-link-one-motor robot with dynamic mobility. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 3510-3515
@inproceedings{ddd6380426134e58bc77bd719676f204,
title = "An underactuated two-link-one-motor robot with dynamic mobility",
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.",
keywords = "Dynamic motion, Nonholonomic control, Two-links-one-motor robot",
author = "Toshinobu Takei and Shinichi Yuta",
year = "2005",
doi = "10.1109/IROS.2005.1545514",
language = "English",
isbn = "0780389123",
pages = "3510--3515",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

}

TY - GEN

T1 - An underactuated two-link-one-motor robot with dynamic mobility

AU - Takei, Toshinobu

AU - Yuta, Shinichi

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

UR - http://www.scopus.com/inward/citedby.url?scp=34547482761&partnerID=8YFLogxK

U2 - 10.1109/IROS.2005.1545514

DO - 10.1109/IROS.2005.1545514

M3 - Conference contribution

AN - SCOPUS:34547482761

SN - 0780389123

SN - 9780780389120

SP - 3510

EP - 3515

BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ER -