Control of a Conected Two-link Mobility by One Joint Actuator
A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial c...
Gespeichert in:
| Veröffentlicht in: | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2007/05/25, Vol.73(729), pp.1400-1407 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | eng ; jpn |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 1407 |
|---|---|
| container_issue | 729 |
| container_start_page | 1400 |
| container_title | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C |
| container_volume | 73 |
| creator | TAKEI, Toshinobu YUTA, Shin'ichi |
| description | A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial condition, upper-body stands vertically and lower-body lies on the ground. This mechanism is expected to be able to move by swinging its upper body and rolling its lower-body, from that initial posture. In this paper, we propose some control laws and algorithms, for the model of this under-actuated mechanism, and give means for aplication to a actual experimental machine. And, we show results of the moving motions in experiments by actual machine. |
| doi_str_mv | 10.1299/kikaic.73.1400 |
| format | Article |
| fullrecord | <record><control><sourceid>jstage_cross</sourceid><recordid>TN_cdi_crossref_primary_10_1299_kikaic_73_1400</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>article_kikaic1979_73_729_73_729_1400_article_char_en</sourcerecordid><originalsourceid>FETCH-LOGICAL-c2740-ca53a6712aa8d521a009e8f07d5c010cba61bd6733b9724cae3501a689cdc04c3</originalsourceid><addsrcrecordid>eNo9j8tOwzAQRS0EEhV0y9o_kDB-JLYXLKqKd1E3ZW1NHAdMQ4wcI9S_p1Grrq5GuueODiE3DErGjbndhi0GVypRMglwRmZMa1loUclzMgOhVVEBl5dkPo6hAQAjaiP0jNwt45BT7GnsKNL94V32Ld38xaIPw5a-xSb0Ie9os6PrwdOXGIZMFy7_Yo7pmlx02I9-fswr8v5wv1k-Fav14_NysSocVxIKh5XAWjGOqNuKM9z_97oD1VYOGLgGa9a0tRKiMYpLh15UwLDWxrUOpBNXpDzsuhTHMfnO_qTwjWlnGdjJ3x78rRJ28t8Drwfga8z44U91TDm43h_rzCgzIYqfYqJPLfeJyfpB_AO90Gg6</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype></control><display><type>article</type><title>Control of a Conected Two-link Mobility by One Joint Actuator</title><source>J-STAGE (Japan Science & Technology Information Aggregator, Electronic) Freely Available Titles - Japanese</source><source>EZB-FREE-00999 freely available EZB journals</source><creator>TAKEI, Toshinobu ; YUTA, Shin'ichi</creator><creatorcontrib>TAKEI, Toshinobu ; YUTA, Shin'ichi</creatorcontrib><description>A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial condition, upper-body stands vertically and lower-body lies on the ground. This mechanism is expected to be able to move by swinging its upper body and rolling its lower-body, from that initial posture. In this paper, we propose some control laws and algorithms, for the model of this under-actuated mechanism, and give means for aplication to a actual experimental machine. And, we show results of the moving motions in experiments by actual machine.</description><identifier>ISSN: 0387-5024</identifier><identifier>EISSN: 1884-8354</identifier><identifier>DOI: 10.1299/kikaic.73.1400</identifier><language>eng ; jpn</language><publisher>The Japan Society of Mechanical Engineers</publisher><subject>Control of a Under-actuated Mechanism ; Dynamical Locomotion ; Experiment in Actual Machine ; Simulator for Actual Machine ; Two-link-one-motor Robot</subject><ispartof>Transactions of the Japan Society of Mechanical Engineers Series C, 2007/05/25, Vol.73(729), pp.1400-1407</ispartof><rights>The Japan Society of Mechanical Engineers</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,1883,4024,27923,27924,27925</link.rule.ids></links><search><creatorcontrib>TAKEI, Toshinobu</creatorcontrib><creatorcontrib>YUTA, Shin'ichi</creatorcontrib><title>Control of a Conected Two-link Mobility by One Joint Actuator</title><title>TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C</title><addtitle>JSMET</addtitle><description>A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial condition, upper-body stands vertically and lower-body lies on the ground. This mechanism is expected to be able to move by swinging its upper body and rolling its lower-body, from that initial posture. In this paper, we propose some control laws and algorithms, for the model of this under-actuated mechanism, and give means for aplication to a actual experimental machine. And, we show results of the moving motions in experiments by actual machine.</description><subject>Control of a Under-actuated Mechanism</subject><subject>Dynamical Locomotion</subject><subject>Experiment in Actual Machine</subject><subject>Simulator for Actual Machine</subject><subject>Two-link-one-motor Robot</subject><issn>0387-5024</issn><issn>1884-8354</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2007</creationdate><recordtype>article</recordtype><recordid>eNo9j8tOwzAQRS0EEhV0y9o_kDB-JLYXLKqKd1E3ZW1NHAdMQ4wcI9S_p1Grrq5GuueODiE3DErGjbndhi0GVypRMglwRmZMa1loUclzMgOhVVEBl5dkPo6hAQAjaiP0jNwt45BT7GnsKNL94V32Ld38xaIPw5a-xSb0Ie9os6PrwdOXGIZMFy7_Yo7pmlx02I9-fswr8v5wv1k-Fav14_NysSocVxIKh5XAWjGOqNuKM9z_97oD1VYOGLgGa9a0tRKiMYpLh15UwLDWxrUOpBNXpDzsuhTHMfnO_qTwjWlnGdjJ3x78rRJ28t8Drwfga8z44U91TDm43h_rzCgzIYqfYqJPLfeJyfpB_AO90Gg6</recordid><startdate>2007</startdate><enddate>2007</enddate><creator>TAKEI, Toshinobu</creator><creator>YUTA, Shin'ichi</creator><general>The Japan Society of Mechanical Engineers</general><scope>AAYXX</scope><scope>CITATION</scope></search><sort><creationdate>2007</creationdate><title>Control of a Conected Two-link Mobility by One Joint Actuator</title><author>TAKEI, Toshinobu ; YUTA, Shin'ichi</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c2740-ca53a6712aa8d521a009e8f07d5c010cba61bd6733b9724cae3501a689cdc04c3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng ; jpn</language><creationdate>2007</creationdate><topic>Control of a Under-actuated Mechanism</topic><topic>Dynamical Locomotion</topic><topic>Experiment in Actual Machine</topic><topic>Simulator for Actual Machine</topic><topic>Two-link-one-motor Robot</topic><toplevel>online_resources</toplevel><creatorcontrib>TAKEI, Toshinobu</creatorcontrib><creatorcontrib>YUTA, Shin'ichi</creatorcontrib><collection>CrossRef</collection><jtitle>TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>TAKEI, Toshinobu</au><au>YUTA, Shin'ichi</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Control of a Conected Two-link Mobility by One Joint Actuator</atitle><jtitle>TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C</jtitle><addtitle>JSMET</addtitle><date>2007</date><risdate>2007</risdate><volume>73</volume><issue>729</issue><spage>1400</spage><epage>1407</epage><pages>1400-1407</pages><issn>0387-5024</issn><eissn>1884-8354</eissn><abstract>A target of our research is a conected two-pole-link mechanism with one controllable joint. The one link is long and the another one is short. The long link is jointed to the center of the short link with an actuated joint. We call the long link upper-body, and the short one lower-body. In initial condition, upper-body stands vertically and lower-body lies on the ground. This mechanism is expected to be able to move by swinging its upper body and rolling its lower-body, from that initial posture. In this paper, we propose some control laws and algorithms, for the model of this under-actuated mechanism, and give means for aplication to a actual experimental machine. And, we show results of the moving motions in experiments by actual machine.</abstract><pub>The Japan Society of Mechanical Engineers</pub><doi>10.1299/kikaic.73.1400</doi><tpages>8</tpages><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0387-5024 |
| ispartof | Transactions of the Japan Society of Mechanical Engineers Series C, 2007/05/25, Vol.73(729), pp.1400-1407 |
| issn | 0387-5024 1884-8354 |
| language | eng ; jpn |
| recordid | cdi_crossref_primary_10_1299_kikaic_73_1400 |
| source | J-STAGE (Japan Science & Technology Information Aggregator, Electronic) Freely Available Titles - Japanese; EZB-FREE-00999 freely available EZB journals |
| subjects | Control of a Under-actuated Mechanism Dynamical Locomotion Experiment in Actual Machine Simulator for Actual Machine Two-link-one-motor Robot |
| title | Control of a Conected Two-link Mobility by One Joint Actuator |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-29T10%3A51%3A40IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-jstage_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Control%20of%20a%20Conected%20Two-link%20Mobility%20by%20One%20Joint%20Actuator&rft.jtitle=TRANSACTIONS%20OF%20THE%20JAPAN%20SOCIETY%20OF%20MECHANICAL%20ENGINEERS%20Series%20C&rft.au=TAKEI,%20Toshinobu&rft.date=2007&rft.volume=73&rft.issue=729&rft.spage=1400&rft.epage=1407&rft.pages=1400-1407&rft.issn=0387-5024&rft.eissn=1884-8354&rft_id=info:doi/10.1299/kikaic.73.1400&rft_dat=%3Cjstage_cross%3Earticle_kikaic1979_73_729_73_729_1400_article_char_en%3C/jstage_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true |