Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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