This study discusses the motion control of an underactuated 3-link gymnast robot moving in a vertical plane. The motion space of the robot is divided into two subspaces (swing-up area, attractive area), and a different type of motion control (swing-up control, balancing control) is applied to each. To enable efficient motion control, the swing-up area is further divided into two subspaces, and a different control law is designed for each. These two laws are employed sequentially and make the robot enter the attractive area with a suitable posture and energy. In the attractive area, the balancing-control law captures the robot and stabilises it at the straight-up equilibrium position. Simulations and a comparison demonstrate the validity of this control method.
Inspec keywords: humanoid robots; stability; motion control; position control
Other keywords:
Subjects: Spatial variables control; Stability in control theory; Robotics
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