File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Analytical Solution to Global Dynamic Balance Control of the Acrobot

TitleAnalytical Solution to Global Dynamic Balance Control of the Acrobot
Authors
Chen, XHu, TSong, CWang, Z
KeywordsAcceleration
Humanoid robots
Stability analysis
Dynamics
Torque
Numerical stability
Asymptotic stability
Issue Date2019
PublisherIEEE.
Citation
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR 2018), Kandima, Maldives, 1-5 August 2018. In 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR), p. 405-410 How to Cite?
DOI: http://dx.doi.org/10.1109/RCAR.2018.8621827
AbstractTo provide a high level dynamic stability objective for humanoid robots that takes into consideration forces due to joint coupling, we derive an analytical solution to the dynamic balance control of the Acrobot, a fixed-base underactuated inverted double pendulum. We will show that the proof for stability involves an analogy to the dynamic stabilization of a rigid pendulum through vertical vibrations of its base, thus providing physical and mathematical insights into controls and dynamic stability of underactuated, articulated systems like the humanoid robot.
DescriptionIPS2: Modeling and Contorl
Persistent Identifierhttp://hdl.handle.net/10722/260758
ISBN
9781538668696

 

DC FieldValueLanguage
dc.contributor.authorChen, X-
dc.contributor.authorHu, T-
dc.contributor.authorSong, C-
dc.contributor.authorWang, Z-
dc.date.accessioned2018-09-14T08:46:54Z-
dc.date.available2018-09-14T08:46:54Z-
dc.date.issued2019-
dc.identifier.citation2018 IEEE International Conference on Real-time Computing and Robotics (RCAR 2018), Kandima, Maldives, 1-5 August 2018. In 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR), p. 405-410-
dc.identifier.isbn9781538668696-
dc.identifier.urihttp://hdl.handle.net/10722/260758-
dc.descriptionIPS2: Modeling and Contorl-
dc.description.abstractTo provide a high level dynamic stability objective for humanoid robots that takes into consideration forces due to joint coupling, we derive an analytical solution to the dynamic balance control of the Acrobot, a fixed-base underactuated inverted double pendulum. We will show that the proof for stability involves an analogy to the dynamic stabilization of a rigid pendulum through vertical vibrations of its base, thus providing physical and mathematical insights into controls and dynamic stability of underactuated, articulated systems like the humanoid robot.-
dc.languageeng-
dc.publisherIEEE.-
dc.relation.ispartof2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)-
dc.rights2018 IEEE International Conference on Real-time Computing and Robotics (RCAR). Copyright © IEEE.-
dc.rights©2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectAcceleration-
dc.subjectHumanoid robots-
dc.subjectStability analysis-
dc.subjectDynamics-
dc.subjectTorque-
dc.subjectNumerical stability-
dc.subjectAsymptotic stability-
dc.titleAnalytical Solution to Global Dynamic Balance Control of the Acrobot-
dc.typeConference_Paper-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/RCAR.2018.8621827-
dc.identifier.scopuseid_2-s2.0-85062518559-
dc.identifier.hkuros291712-
dc.identifier.spage405-
dc.identifier.epage410-
dc.publisher.placeUnited States-

Export via OAI-PMH Interface in XML Formats

OR

Export to Other Non-XML Formats