TY - GEN
T1 - Leg space observer on biarticular actuated two-link manipulator for realizing spring loaded inverted pendulum model
AU - Kimura, Yasuto
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2012
Y1 - 2012
N2 - This paper proposes kinematics and a control algorithm to control a two-link manipulator to simulate a spring loaded inverted pendulum (SLIP). End-effector kinematics is derived in the reference frame that is defined along the axis that connects the first joint and the end-effector. The derivation of this kinematics reveals that a biarticular actuator is suitable for this kinematics. Based on this kinematics, a disturbance observer is designed in the same reference frame. This disturbance observer removes the unnecessary inertia coupling without calculation of Jacobian matrix.
AB - This paper proposes kinematics and a control algorithm to control a two-link manipulator to simulate a spring loaded inverted pendulum (SLIP). End-effector kinematics is derived in the reference frame that is defined along the axis that connects the first joint and the end-effector. The derivation of this kinematics reveals that a biarticular actuator is suitable for this kinematics. Based on this kinematics, a disturbance observer is designed in the same reference frame. This disturbance observer removes the unnecessary inertia coupling without calculation of Jacobian matrix.
UR - https://www.scopus.com/pages/publications/84861636319
U2 - 10.1109/AMC.2012.6197054
DO - 10.1109/AMC.2012.6197054
M3 - Conference contribution
AN - SCOPUS:84861636319
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -