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Swing-up control of a 3-DOF acrobot using an evolutionary approach

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Abstract

We present a control method for a 3-DOF acrobot which is a model of a gymnast on a horizontal bar with three links, two active joints, and a passive joint. This robot is a nonholonomic and underactuated system. We propose two control methods for the 3-DOF acrobot. First, swing-up control is performed by genetic programming (GP), and stabilizing control is handled by a linear quadratic regulator (LQR). GP can search widely for the optimum input torques for swing-up so that the acrobot is able to reach a near balancing point. The LQR is then switched on to stabilize the system. In the simulation results, the 3-DOF acrobot could swing up to the desired position, and the proposed method could control the acrobot effectively.

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Authors and Affiliations

  1. Graduate School of Engineering and Science, University of the Ryukyus, 1 Senbaru, Nishihara, Okinawa, 903-0213, Japan

    Ryo Fukushima

  2. Faculty of Engineering, University of the Ryukyus, Okinawa, Japan

    Eiho Uezato

Authors
  1. Ryo Fukushima
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  2. Eiho Uezato
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Corresponding author

Correspondence to Ryo Fukushima.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

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Fukushima, R., Uezato, E. Swing-up control of a 3-DOF acrobot using an evolutionary approach. Artif Life Robotics 14, 160–163 (2009). https://doi.org/10.1007/s10015-009-0645-6

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  • DOI: https://doi.org/10.1007/s10015-009-0645-6

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