1 / 1

Acrobot An under-actuated, unstable and non linear system

Acrobot An under-actuated, unstable and non linear system. GRAPHIC. WHY ! The system is difficult, I.e. unstable, falls over when left to itself. under-actuated, two degrees of freedom and one actuator non linear, can’t be controlled with a linear controller Behavior Networks

emily
Download Presentation

Acrobot An under-actuated, unstable and non linear system

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Acrobot An under-actuated, unstable and non linear system GRAPHIC • WHY ! • The system is difficult, I.e. • unstable, falls over when left to itself. • under-actuated, two degrees of freedom and one actuator • non linear, can’t be controlled with a linear controller • Behavior Networks • a set of constraints linking Basis Behaviors • adaptive, distributed, dynamic • works on any robot that implements BBs • Links and references • Nils Axel Andersen, Lars Skovgaard, and Ole Ravn: Control of an under actuated unstable nonlinear object. In: Proceeding of the 7th International Symposium on Experimental Robotics ISER'00, Springer, 2000. URL http://www.iau.dtu.dk/secretary/pdf/ORc.pdf • IMPACT • Accelerate development of robots for future • deployment by DOD • Extend the capabilities of mobile robot teams • Develop a framework for rapid, cross-platform • controller design Nils Andersen, Ole Ravn, Automation, Ørsted DTU

More Related