A novel energy pumping strategy for robotic swinging

Papadopoulos, E; Papadopoulos, G

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Papadopoulos, G	en
dc.date.accessioned	2014-03-01T02:51:51Z
dc.date.available	2014-03-01T02:51:51Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35691
dc.subject	Satisfiability	en
dc.subject	Singular Point	en
dc.subject	underactuated system	en
dc.title	A novel energy pumping strategy for robotic swinging	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2009.5164664	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2009.5164664	en
heal.publicationDate	2009	en
heal.abstract	In this work we show that an Acrobot can be made to behave as a robotic swing. This is achieved by controIling the first joint, provided that a given condition is satisfied. When this condition is not satisfied, the system undergoes through singular points. Even when this happens, we are again able to make the system behave as a swing	en
heal.journalName	Mediterranean Conference on Control and Automation	en
dc.identifier.doi	10.1109/MED.2009.5164664	en