Takuya Shoji

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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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