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Experimental implementation of stable oscillations of the Furuta pendulum around the upward equilibrium
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2007 (English)In: IEEE/RSJ International conference on intelligent robots and systems, 2007. IROS 2007, Piscataway, N.J: IEEE Operations Center , 2007, 171-176 p.Conference paper, Published paper (Refereed)
Abstract [en]

Recently, a new technique for generating periodic motions in mechanical systems which have less actuators than degrees of freedom has been proposed. A motivating example for studying such motions is a dynamically stabilized walking robot, where the target trajectory is periodic, and one of the joints - the ankle joint - is unactuated, or weakly actuated. In this paper, the technique is implemented on the Furuta pendulum, an experimental testbed that is simpler than a walking robot but retains many of the key challenges - it is underactuated, open-loop unstable, and practical problems such as friction and velocity estimation must be overcome. We present a detailed description of the practical implementation of the controller. The experiments show that the technique is sufficiently robust to be useful in practice.

Place, publisher, year, edition, pages
Piscataway, N.J: IEEE Operations Center , 2007. 171-176 p.
Series
Proceedings : 2007 IEEE/RSJ International conference on intelligent robots and systems
Keyword [en]
Furuta pendulum, virtual holonomic constraints, motion planning, orbital stabilization of periodic trajectories, implementation
Identifiers
URN: urn:nbn:se:umu:diva-19523DOI: 10.1109/IROS.2007.4399106ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:umu-19523DiVA: diva2:201896
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, OCT 29-NOV 02, 2007
Available from: 2009-03-05 Created: 2009-03-05 Last updated: 2010-12-16Bibliographically approved

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Freidovich, Leonid BShiriaev, Anton SManchester, Ian R
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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf