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 over small...
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American Society of Mechanical Engineers
2018
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| Online Access: | http://hdl.handle.net/1721.1/118793 https://orcid.org/0000-0002-1695-7312 https://orcid.org/0000-0003-3155-6223 |