Swing up Control Experiment aimed at Energy Interaction between the Acrobot and Compliance

摘要

This paper describes a swing up control experiment for an under-actuated two-link robot, the Acrobot, swinging on a high bar with compliance. Because the high bar is bending while a gymnast swings up, there may be energy interaction between the gymnast and the high bar. Therefore, more efficient motion would be constructed by using this energy interaction effectively. Based on this probability, a control strategy which considers this energy interaction is proposed. An experiment using the Acrobot is carried out to confirm this discussion. New structure of an experimental equipment representing the compliance of the high bar is also proposed to carry out this experiment. Advantages and disadvantages in utilizing compliance are examined by comparing experimental results.