• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Control of Nonholonomic Systems Under the Gravity Field

Research Project

Project/Area Number 15360223
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionTokyo Institute of Technology

Principal Investigator

SAMPEI Mitsuji  Tokyo Institute of Technology, Graduate School of Science and Engineering, Professor, 大学院・理工学研究科, 教授 (00196338)

Co-Investigator(Kenkyū-buntansha) NAKAURA Shigeki  Tokyo Institute of Technology, Graduate School of Science and Engineering, Assistant Professor, 大学院・理工学研究科, 助手 (20323793)
Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥8,000,000 (Direct Cost: ¥8,000,000)
Fiscal Year 2005: ¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 2004: ¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 2003: ¥2,800,000 (Direct Cost: ¥2,800,000)
KeywordsNonholonomic system / Output zeroing / Zero dynamics / Hopping robot / Devil stick / Juggling / Swing up motion / Compliance / 双線形システム / 非線形H∞制御 / 持続回転運動 / 連続跳躍
Research Abstract

In this research, we investigate the following systems for nonholonomic system under the gravity field.
1. Continuous Hopping Motion Control of One Linear Actuator Robot
This robot has mechanics to be able to realize continuous hopping motion on vertical plane by one linear actuator : We showed that continuous hopping is possible to build servo system by regarding one linear actuator robot as a discrete system. Also we constructed the hopping robot which has a pneumatic cylinder and a small air tank, and succeeded 14 times hopping by this robot.
2. Enduring Rotary Motion Control of Devil Stick
We showed that enduring rotary motion of devil stick is realized by zeroing output functions which are obtained through observation of human operations. Also we constructed experimental devil stick system by using a industrial manipulator in substitution for a human arm, and succeeded 15 times rotary motion of the stick.
3. Swing Up Control on the Horizontal Bar with Compliance
We proposed the model of an acrobot on the horizontal bar with compliance, and derived the control strategy to swing up the acrobot more rapidly by efficient use of that compliance. Also we developed experimental system which uses linear springs to simulate the compliance, and confirmed effective swing up motion is achieved.
4. Nonlinear Control of Inverted Pendulum System with Up-down Motion
We analyzed the performance of the stabilization of a inverted pendulum by using not only horizontal motion but also vertical motion. By expressing the inverted pendulum model which moves on vertical plane freely as bilinear system, we derived the nonlinear H infinity control law so as to make use of vertical motion appropriately.

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (15 results)

All 2004 2003 Other

All Journal Article (12 results) Publications (3 results)

  • [Journal Article] Enduring Rotary Motion Control of Devil Stick2004

    • Author(s)
      Shigeki Nakaura
    • Journal Title

      6^th IFAC-Symposium on Nonlinear Control Systems

      Pages: 1073-1078

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Analysis of Compliance Effect for Swing Up Control2004

    • Author(s)
      Shigeki Nakaura
    • Journal Title

      3^rd IFAC-Symposium on Mechatronic Systems

      Pages: 337-342

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Enduring Rotary Motion Control of Devil Stick2004

    • Author(s)
      Shigeki Nakaura
    • Journal Title

      6^<th> IFAC-Symposium on Nonlinear Control Systems

      Pages: 1073-1078

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Analysis of Compliance Effect for Swing Up Control2004

    • Author(s)
      Shigeki Nakaura
    • Journal Title

      3^<nd> IFAC-Symposium on Mechatronic Systems

      Pages: 337-342

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Enduring Rotary Motion Control of Devil Stick2004

    • Author(s)
      Shigeki Nakaura
    • Journal Title

      6th IFAC-Symposium on Nonlinear Control Systems

      Pages: 1073-1078

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Analysis of Compliance Effect for Swing Up Control2004

    • Author(s)
      Shigeki Nakaura
    • Journal Title

      3rd IFAC-Symposium on Mechatronic Systems

      Pages: 337-342

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Adaptive Fuzzy Control of One Linear Actuator Hopping Robot2003

    • Author(s)
      Son Kuswadi
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics 7・2

      Pages: 92-100

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A One Linear Actuator Hopping Robot : Modeling and Control2003

    • Author(s)
      Son Kuswadi
    • Journal Title

      Advanced Robotics 17・8

      Pages: 709-737

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Feedback Control of Enduring Rotary Motion of Devil Stick2003

    • Author(s)
      Yasuyuki Kawaida
    • Journal Title

      Proc. of the 42^nd IEEE Conference on Decision and Control

      Pages: 3396-3401

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Adaptive Fuzzy Control of One Linear Actuator Hopping Robot2003

    • Author(s)
      Son Kuswadi
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics Vol.7, No.2

      Pages: 92-100

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A One Linear Actuator Hopping Robot : Modeling and Control2003

    • Author(s)
      Son Kuswadi
    • Journal Title

      Advanced Robotics Vol.17, No.8

      Pages: 709-737

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Feedback Control of Enduring Rotary Motion of Devil Stick2003

    • Author(s)
      Yasuyuki Kawaida
    • Journal Title

      Proc.Of the 42^<nd> IEEE Conference on Decision and Control.

      Pages: 3396-3401

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Publications] Son Kuswadi: "Adaptive Fuzzy Control of One Linear Actuator Hopping Robot"Journal of Advanced Computational Intelligence and Intelligent Informatics. 7・2. 92-100 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Son Kuswadi: "A one linear actuator hopping robot : modeling and control"Advanced Robotics. 17・8. 709-737 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] Yasuyuki Kawaida: "Feedback Control of Enduring Rotary Motion of Devil Stick"Proc.of the 42nd IEEE Conference on Decision and Control. 3396-3401 (2003)

    • Related Report
      2003 Annual Research Report

URL: 

Published: 2003-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi