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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

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Acrobot An under-actuated, unstable and non linear system

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  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

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