Angular momentum based balance controller for an under-actuated planar robot

@article{Azad2016AngularMB,
  title={Angular momentum based balance controller for an under-actuated planar robot},
  author={Morteza Azad and Roy Featherstone},
  journal={Auton. Robots},
  year={2016},
  volume={40},
  pages={93-107}
}
In this paper, a new control algorithm based on angular momentum is presented for balancing an underactuated planar robot. The controller is able to stabilize the robot in any unstable balanced configuration in which the robot is controllable, and also it is able to follow a class of arbitrary trajectories without losing balance. Simulation results show the good performance of the controller in balancing and trajectory tracking motions of the robot. The simulations also show that the proposed… CONTINUE READING
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Currently, he is a research fellow at the school of Computer Science, University of Birmingham, UK

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