Balancing control algorithm for a 3D under-actuated robot

Morteza Azad; Roy Featherstone

doi:10.1109/IROS.2014.6943011

Balancing control algorithm for a 3D under-actuated robot

Morteza Azad, Roy Featherstone

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper presents an angular momentum based controller to control the balancing motion of a spatial underactuated robot with three degrees of under-actuation. The control algorithm is based on the idea of decoupling the robot's motion instantaneously into bending and swivelling motions. This property of the robot is obtained by using a constant velocity joint as the 2-DoF active joint of the robot. Simulation results show the performance of the controller during some interesting motions of the robot such as straightening, crouching and reorienting motions. The last two motions, which are the results of decoupling the robot's motion, are demonstrated here for the first time.

Original language	English
Title of host publication	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	3233-3238
Number of pages	6
ISBN (Electronic)	978-1-4799-6934-0
DOIs	https://doi.org/10.1109/IROS.2014.6943011
Publication status	Published - 4 Nov 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014

Publication series

Name	IEEE/RSJ International Conference on Intelligent Robots and Systems, Proceedings
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2014.6943011Licence: None: All rights reserved

https://ieeexplore.ieee.org/document/6943011/Licence: None: All rights reserved

Cite this

Azad, M., & Featherstone, R. (2014). Balancing control algorithm for a 3D under-actuated robot. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3233-3238). Article 6943011 (IEEE/RSJ International Conference on Intelligent Robots and Systems, Proceedings). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IROS.2014.6943011

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title = "Balancing control algorithm for a 3D under-actuated robot",

abstract = "This paper presents an angular momentum based controller to control the balancing motion of a spatial underactuated robot with three degrees of under-actuation. The control algorithm is based on the idea of decoupling the robot's motion instantaneously into bending and swivelling motions. This property of the robot is obtained by using a constant velocity joint as the 2-DoF active joint of the robot. Simulation results show the performance of the controller during some interesting motions of the robot such as straightening, crouching and reorienting motions. The last two motions, which are the results of decoupling the robot's motion, are demonstrated here for the first time.",

author = "Morteza Azad and Roy Featherstone",

year = "2014",

month = nov,

day = "4",

doi = "10.1109/IROS.2014.6943011",

language = "English",

series = "IEEE/RSJ International Conference on Intelligent Robots and Systems, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

pages = "3233--3238",

booktitle = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

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Azad, M & Featherstone, R 2014, Balancing control algorithm for a 3D under-actuated robot. in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943011, IEEE/RSJ International Conference on Intelligent Robots and Systems, Proceedings, Institute of Electrical and Electronics Engineers (IEEE), pp. 3233-3238, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, Illinois, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943011

Balancing control algorithm for a 3D under-actuated robot. / Azad, Morteza; Featherstone, Roy.
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers (IEEE), 2014. p. 3233-3238 6943011 (IEEE/RSJ International Conference on Intelligent Robots and Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - This paper presents an angular momentum based controller to control the balancing motion of a spatial underactuated robot with three degrees of under-actuation. The control algorithm is based on the idea of decoupling the robot's motion instantaneously into bending and swivelling motions. This property of the robot is obtained by using a constant velocity joint as the 2-DoF active joint of the robot. Simulation results show the performance of the controller during some interesting motions of the robot such as straightening, crouching and reorienting motions. The last two motions, which are the results of decoupling the robot's motion, are demonstrated here for the first time.

AB - This paper presents an angular momentum based controller to control the balancing motion of a spatial underactuated robot with three degrees of under-actuation. The control algorithm is based on the idea of decoupling the robot's motion instantaneously into bending and swivelling motions. This property of the robot is obtained by using a constant velocity joint as the 2-DoF active joint of the robot. Simulation results show the performance of the controller during some interesting motions of the robot such as straightening, crouching and reorienting motions. The last two motions, which are the results of decoupling the robot's motion, are demonstrated here for the first time.

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ER -

Balancing control algorithm for a 3D under-actuated robot

Abstract

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Conference

ASJC Scopus subject areas

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