Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu
{"title":"三连杆机器人仿人智能运动控制","authors":"Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu","doi":"10.1109/WCICA.2011.5970634","DOIUrl":null,"url":null,"abstract":"A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Human simulated intelligence motion control for a three-link acrobot\",\"authors\":\"Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu\",\"doi\":\"10.1109/WCICA.2011.5970634\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.\",\"PeriodicalId\":211049,\"journal\":{\"name\":\"2011 9th World Congress on Intelligent Control and Automation\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 9th World Congress on Intelligent Control and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WCICA.2011.5970634\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 9th World Congress on Intelligent Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2011.5970634","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Human simulated intelligence motion control for a three-link acrobot
A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.