Final-State Control of A Two-Link Cat Robot by Feedforward Torque Inputs

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 in the normal direction each other. This system is a nonholonomic system whose angul...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 66; no. 643; pp. 857 - 863
Main Authors WENG, Zhiqiang, NISHIMURA, Hidekazu
Format Journal Article
LanguageEnglish
Japanese
Published The Japan Society of Mechanical Engineers 2000
Subjects
Error Learing
Final-State Control
Input Constraint
Lagrange's Equation of Motion
Linear Parameter Varying System
Motion Control
Nonholonomic Constraint
Two-Link Cat Robot
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Summary: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 in the normal direction each other. This system is a nonholonomic system whose angular momentum is conserved. We obtain Lagrange's equation of motion with nonholonomic constraint and formulate a 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 posture so that she lands on her feet, by using of obtained feedforward torque inputs by the final-state control.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.66.857