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Acrobot An under-actuated, unstable and non linear system

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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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