@inproceedings{b6433f1f80384b0e83472c5066a8f254,
title = "Energy-based control of the butterfly robot",
abstract = "We address the control problem for the Butterfly, an interesting example of 2-dof underactuated mechanical system. This robot consists of a butterflyshaped rotational link on whose rim a ball rolls freely. The control objective is to stabilize the robot at a certain unstable equilibrium. To this end, exploiting the existence of heteroclinic trajectories, we extend a previously proposed energybased technique. Simulation results show the effectiveness of the presented method.",
keywords = "Energy-based control, Heteroclinic orbits, Underactuated systems",
author = "Massimo Cefalo and Leonardo Lanari and Giuseppe Oriolo",
year = "2006",
doi = "10.3182/20060906-3-it-2910.00002",
language = "English",
isbn = "9783902661166",
volume = "39",
series = "IFAC Proceedings Volumes",
publisher = "Elsevier",
number = "15",
pages = "1--6",
booktitle = "8th International IFAC Symposium on Robot Control, SYROCO 2006",
address = "Netherlands",
note = "8th IFAC Symposium on Robot Control ; Conference date: 06-09-2006 Through 08-09-2006",
}