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Document type:
Konferenzbeitrag 
Author(s):
Christange, F.; Donner, P.; Buss, M. 
Title:
Energy Control for Complex Pendulums based on Tracking of Online Computed Force Trajectories 
Abstract:
In this paper we propose to track online computed force trajectories to control the energy of various types of pendulum-like objects. The considered pendulum-like objects can be controlled by multiple agents and swing in different oscillation degrees of freedom. Our goal is to excite one specific oscillation, the intended oscillation, while damping all other disturbance oscillations. By approximating the intended oscillation as a simple pendulum oscillation, we can specify a desired force traject...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 
Organization:
IEEE 
Date of congress:
May 26th - 30th, 2015 
Publisher address:
Seattle, Washington, USA 
Year:
2015 
Semester:
SS 15