| Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar |
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| 引用本文： | ZHANG Hu,LI Zu-shu,GU Jian-gong,CHEN Gui-qiang,TAN Zhi. Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar[J]. 保鲜与加工, 2007, 0(3): 74-78 |
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| 作者姓名： | ZHANG Hu LI Zu-shu GU Jian-gong CHEN Gui-qiang TAN Zhi |
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| 作者单位： | 1. Institute of Intelligent Automation, Chongqing University, Chongqing 400030, China; 2. Institute of Artificial Intelligence System, Chongqing Institute of Technology, Chongqing 400050, China |
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| 摘 要： | The design of multi-controller and multi-mode control law is presented for the three-link Acrobot on horizontal bar by employing Human simulated intelligent control method based on sensory-motor Schema.Imitated the characteristics of gymnast's swing-up and handstand movement,the control process of robot is divided by six sequence phase.Then the sensory cell and motor cell and the group of sensory-motor schema is designed based on the analysis of quality-quantity combination.The simulation results show that the controller ensures the gesture and the energy to the desired goal,farther more the motion control of giant swing backword is realized in the simulation.
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| 关 键 词： | three-link acrobot on horizontal bar underactuated mechanical systems swing-up and handstand motion control human simulated intelligent control sensory- motor schema |
| 修稿时间： | 2006-10-10 |
Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar |
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| ZHANG Hu,LI Zu-shu,GU Jian-gong,CHEN Gui-qiang,TAN Zhi. Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar[J]. Storage & Process, 2007, 0(3): 74-78 |
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| Authors: | ZHANG Hu LI Zu-shu GU Jian-gong CHEN Gui-qiang TAN Zhi |
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| Affiliation: | 1. Institute of Intelligent Automation, Chongqing University, Chongqing 400030, China; 2. Institute of Artificial Intelligence System, Chongqing Institute of Technology, Chongqing 400050, China |
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| Abstract: | The design of multi-controller and multi-mode control law is presented for the three-link Acrobot on horizontal bar by employing Human simulated intelligent control method based on sensory-motor Schema.Imitated the characteristics of gymnast's swing-up and handstand movement,the control process of robot is divided by six sequence phase.Then the sensory cell and motor cell and the group of sensory-motor schema is designed based on the analysis of quality-quantity combination.The simulation results show that the controller ensures the gesture and the energy to the desired goal,farther more the motion control of giant swing backword is realized in the simulation. |
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| Keywords: | three-link acrobot on horizontal bar underactuated mechanical systems swing-up and handstand motion control human simulated intelligent control sensory- motor schema |
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