TY - CHAP
T1 - Motion control of brachiation robot by using final-state control for parameter-varying systems
AU - Nishimura, Hidekazu
AU - Funaki, Koji
PY - 1996/12/1
Y1 - 1996/12/1
N2 - In this paper, we apply an error learning method of final-state control to motion control of a 3-link brachiation robot of which the root joint has no drive unit. We treat the nonlinear terms of the governing equation as if they were linear and represent the dynamic model as a linear parameter-varying system. By simulations and experiments it is demonstrated that the feedforward input obtained by the error learning method can bring the brachiation robot from an initial state to a desired state in a specific time.
AB - In this paper, we apply an error learning method of final-state control to motion control of a 3-link brachiation robot of which the root joint has no drive unit. We treat the nonlinear terms of the governing equation as if they were linear and represent the dynamic model as a linear parameter-varying system. By simulations and experiments it is demonstrated that the feedforward input obtained by the error learning method can bring the brachiation robot from an initial state to a desired state in a specific time.
UR - http://www.scopus.com/inward/record.url?scp=0030391829&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030391829&partnerID=8YFLogxK
M3 - Chapter
AN - SCOPUS:0030391829
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2355
EP - 3592
BT - Proceedings of the IEEE Conference on Decision and Control
A2 - Anon, null
T2 - Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
Y2 - 11 December 1996 through 13 December 1996
ER -