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In this paper, we introduce a stabilization method of underactuated 3-link robots for landing control of an acrobat robot, i.e., we consider the acrobat robot standing on its toes as an unstable underactuated manipulator in the gravity field, and apply a stabilizing method to it. The validity of the algorithm is shown by numerical simulations.
SICE 2003 Annual Conference (Volume:3 )
Date of Conference: 4-6 Aug. 2003