Reproduction of swing-up and giant swing motion of Acrobot based on a technique of the horizontal bar gymnast

摘要

In this study, a reproduction of a swing-up and a giant swing motion of the Acrobot based on behaviors of the horizontal bar gymnast is discussed with focusing on an Equivalent Center of Mass (ECM) of the Acrobot and the gymnast. At first, the behaviors of the Equivalent Center of Mass of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing-up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the Equivalent Center of the Mass of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the Acrobot the swing-up and giant swing motion like the gymnast Finally, an effectiveness of the proposed controller is shown by numerical simulations.