### Abstract

This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators at the joint to generate torque inputs around the normal coordinates. This system is a nonholonomic system whose angular momentum is conserved. We obtain the Lagrange's equation of motion with nonholonomic constraint and formulate the linear parameter varying system. Then, in order to get the twisting motion we apply the error learning method of final-state control with amplitude constraint of inputs. In simulation we show that the two-link cat robot can pose so that she lands on her feet, by using of the obtained feedforward torque inputs by the final-state control.

Original language | English |
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Title of host publication | International Workshop on Advanced Motion Control, AMC |

Publisher | IEEE |

Pages | 264-269 |

Number of pages | 6 |

Publication status | Published - 2000 |

Externally published | Yes |

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### ASJC Scopus subject areas

- Engineering(all)

### Cite this

*International Workshop on Advanced Motion Control, AMC*(pp. 264-269). IEEE.

**Final-state control of a two-link cat robot by feedforward torque inputs.** / Weng, Zhiqiang; Nishimura, Hidekazu.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*International Workshop on Advanced Motion Control, AMC.*IEEE, pp. 264-269.

}

TY - GEN

T1 - Final-state control of a two-link cat robot by feedforward torque inputs

AU - Weng, Zhiqiang

AU - Nishimura, Hidekazu

PY - 2000

Y1 - 2000

N2 - This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators at the joint to generate torque inputs around the normal coordinates. This system is a nonholonomic system whose angular momentum is conserved. We obtain the Lagrange's equation of motion with nonholonomic constraint and formulate the linear parameter varying system. Then, in order to get the twisting motion we apply the error learning method of final-state control with amplitude constraint of inputs. In simulation we show that the two-link cat robot can pose so that she lands on her feet, by using of the obtained feedforward torque inputs by the final-state control.

AB - This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators at the joint to generate torque inputs around the normal coordinates. This system is a nonholonomic system whose angular momentum is conserved. We obtain the Lagrange's equation of motion with nonholonomic constraint and formulate the linear parameter varying system. Then, in order to get the twisting motion we apply the error learning method of final-state control with amplitude constraint of inputs. In simulation we show that the two-link cat robot can pose so that she lands on her feet, by using of the obtained feedforward torque inputs by the final-state control.

UR - http://www.scopus.com/inward/record.url?scp=0034480016&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034480016&partnerID=8YFLogxK

M3 - Conference contribution

SP - 264

EP - 269

BT - International Workshop on Advanced Motion Control, AMC

PB - IEEE

ER -