Motion control of brachiation robot by using final-state control for parameter-varying systems

Hidekazu Nishimura, Koji Funaki

Research output: Chapter in Book/Report/Conference proceedingChapter

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages2355-3592
Number of pages1238
Publication statusPublished - 1996 Dec 1
Externally publishedYes
EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
Duration: 1996 Dec 111996 Dec 13

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume3
ISSN (Print)0191-2216

Other

OtherProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
CityKobe, Jpn
Period96/12/1196/12/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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  • Cite this

    Nishimura, H., & Funaki, K. (1996). Motion control of brachiation robot by using final-state control for parameter-varying systems. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (pp. 2355-3592). (Proceedings of the IEEE Conference on Decision and Control; Vol. 3).