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This paper describes a control strategy for throwing motion of the springed Pendubot based on the concept of unstable zero dynamics. An underactuated two-link planar robot called the Pendubot is investigated to realize dexterous actions of the superior limb in human throwing motion. A torsion spring is mounted on the passive joint of the Pendubot(More)
This paper deals with motion control of throwing generated by dexterous action. Dexterous actions can be seen in many sports. In baseball pitching, dexterous throwing seems to use energy transfer and a physical constraint at the elbow joint. To implement the dexterous throwing, two types of twolink underactuated manipulator are presented. One model has a(More)
The objective of this paper is to present systematic methods for throwing motion control of underactuated robots. The Pendubot, an underactuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The controller is designed based on(More)
— This paper presents systematic methods for throwing motion control of the Pendubot based on the concept of explosively unstable zero dynamics. The Pendubot, an underac-tuated two-link planar robot, is investigated as a dynamic model of the superior limbs for imitation of human throwing motion whose models are fundamentally underactuated in nature. The(More)
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