Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedBT5 Gemini 2 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 09:30–<strong>10</strong>:30<br />
Identification, Modeling and Motion Control<br />
Chair kiminao kogiso, Nara Inst. of Science and Tech.<br />
Co-Chair<br />
09:30–09:45 WedBT5.1<br />
Identification Procedure for<br />
McKibben Pneumatic Artificial Muscle Systems<br />
Kiminao Kogiso Kenta Sawano and Kenji Sugimoto<br />
Graduate School of Information Science, NAIST, Japan<br />
Takashi Itto<br />
Mitsui Chemicals, Inc., Japan<br />
• Present how to model a McKibben<br />
pneumatic artificial muscle (PAM) that<br />
vertically suspends mass, in hybrid form.<br />
• Analyze the hybrid PAM model to clarify<br />
dominant parameters in steady-state and<br />
transient behaviors, respectively.<br />
• Propose a novel procedure for identifying<br />
the parameters, which can be used to get<br />
mass-continuously-parameterized models.<br />
• Conclude the proposed procedure is<br />
experimentally validated by using steadystate<br />
and transient responses.<br />
PAM system to be modeled and<br />
experimental validation results.<br />
<strong>10</strong>:00–<strong>10</strong>:15 WedBT5.3<br />
Dynamic Model of Three Wheeled Narrow Tilting<br />
Vehicle and Corresponding Experiment Verification<br />
Hiroki Furuichi and Toshio Fukuda<br />
Dept. Micro-Nano Systems Engineering, Nagoya University, Japan<br />
Jian Huang<br />
Dept. Control Science and Engineering, Huazhong University of Science and<br />
Technology, China<br />
Takayuki Matsuno<br />
Natural Science and Technology, Okayama University, Japan<br />
• A new switching dynamical model<br />
considering several Narrow Tilting Vehicle<br />
(NTV) running states are proposed.<br />
• The simulation platform is establish to<br />
simulate the control of NTV.<br />
• Verification for the effectiveness of<br />
proposed model and simulation platform is<br />
performed through comparison of<br />
simulations and experiments.<br />
Picture of NTV<br />
09:45–<strong>10</strong>:00 WedBT5.2<br />
The Cubli: A Cube That Can Jump up and Balance<br />
Mohanarajah Gajamohan, Michael Merz, Igor Thommen, and<br />
Raffaello D'Andrea<br />
Department of Mechanical and Process Engineering, ETH Zurich, Switzerland<br />
• The paper introduces the concept of the<br />
Cubli, a cube that will be able to jump up,<br />
using an impact based strategy, and<br />
balance on a corner.<br />
• Design and control of the 1D prototype<br />
(three of which will be combined in the<br />
final prototype) is presented with<br />
experimental results.<br />
(a) (b)<br />
The Cubli jump-up strategy: (a) Flat to Edge: Lying flat<br />
on its face, the Cubli jumps up to stand on its edge.<br />
(b) Edge to Corner: The Cubli goes from balancing about<br />
an edge to balancing on a corner.<br />
<strong>10</strong>:15–<strong>10</strong>:30 WedBT5.4<br />
An Energy-Based State Observer for Dynamical<br />
Subsystems with Inaccessible state Variables<br />
Islam S. M. Khalil * , Asif Sabanovic **<br />
and Sarthak Misra *<br />
* MIRA—Institute for Biomedical Technology and Technical Medicine<br />
University of Twente, The Netherlands<br />
** Faculty of Engineering and Natural Sciences, Sabanci University, Turkey<br />
• Effort and flow variables are<br />
considered as natural feedback<br />
from dynamical subsystems with<br />
inaccessible outputs<br />
• State variables of subsystems<br />
with inaccessible outputs can be<br />
estimated by an energy-based<br />
state observer<br />
• Stability margins of the energybased<br />
state observer are<br />
investigated<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–133–<br />
Lumped mass-spring system with 4 degrees-offreedom.<br />
We presume that subsystem P has<br />
inaccessible outputs for measurement