Abstract
This paper describes an experiment for accelerated motion control for the Acrobot on the horizontal bar with compliance. Since the horizontal bar is bending during gymnastics, gymnasts seem to be demonstrating their abilities more effectively by utilizing this compliance. Similarly, there is possibility that the movement of the better performance that the robot originally has can be achieved by utilizing this compliance. Based on this presumption, a control law which achieves accelerated motion for the Acrobot is proposed. To confirm this discussion, simulation and experiment using the Acrobot are carried out, and the advantage and the disadvantage by using compliance are examined by comparing results of with and without compliance cases.
