Experimental implementation of stable oscillations of the Furuta pendulum around the upward equilibrium
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 (Refereed)
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.
, Proceedings : 2007 IEEE/RSJ International conference on intelligent robots and systems
Furuta pendulum, virtual holonomic constraints, motion planning, orbital stabilization of periodic trajectories, implementation
IdentifiersURN: urn:nbn:se:umu:diva-19523DOI: 10.1109/IROS.2007.4399106ISBN: 978-1-4244-0912-9OAI: oai:DiVA.org:umu-19523DiVA: diva2:201896
IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, OCT 29-NOV 02, 2007