Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion
This paper describes the analysis, design, and implementation of an under-actuated robot control system for swing up motion. The robot, called the "Mag-Foot" robot, uses permanent magnets to adhere to steel surfaces. This robot uses a novel tilting foot design for locomotion and can swing...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
American Society of Mechanical Engineers,
2018-10-30T13:52:17Z.
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| Subjects: | |
| Online Access: | Get fulltext |