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• W2912097985 abstract "To provide a high level dynamic stability objective for humanoid robots that takes into consideration forces due to joint coupling, we derive an analytical solution to the dynamic balance control of the Acrobot, a fixed-base underactuated inverted double pendulum. We will show that the proof for stability involves an analogy to the dynamic stabilization of a rigid pendulum through vertical vibrations of its base, thus providing physical and mathematical insights into controls and dynamic stability of underactuated, articulated systems like the humanoid robot." @default.
• W2912097985 created "2019-02-21" @default.
• W2912097985 creator A5028976561 @default.
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• W2912097985 date "2018-08-01" @default.
• W2912097985 modified "2023-10-05" @default.
• W2912097985 title "Analytical Solution to Global Dynamic Balance Control of the Acrobot" @default.
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• W2912097985 doi "https://doi.org/10.1109/rcar.2018.8621827" @default.
• W2912097985 hasPublicationYear "2018" @default.
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