Novel Underactuated Wheeled Manipulator – Wheeled Double Inverted Pendulum Robot (WAcrobot)

Position: Mechanical Design Engineer

Location: RMRL, Melbourne, Australia

Period: 2008 – 2009

Description:

WAcrobot is a novel underactuated wheeled manipulator consisting of an underactuated 2-DOF planar manipulator (Acrobot) equipped with two actuated wheels. The design of control system for stabilisation, swing up and trajectory tracking this wheeled manipulator have been investigated.

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