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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

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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