Final-State Control of A Two-Link Cat Robot by Feedforward Torque Inputs.

Abstract

This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators at the joint to generate torque inputs in the normal direction each other. This system is a nonholonomic system whose angular momentum is conserved. We obtain Lagrange's equation of motion with nonholonomic constraint and formulate a linear parameter varying system. Then, in order to get the twisting motion we apply the error learning method of final-state control with amplitude constraint of inputs. In simulation we show that the two-link cat robot can posture so that she lands on her feet, by using of obtained feedforward torque inputs by the final-state control.