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Inventions 2017, 2(3), 16;

Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques

Department of Artificial Intelligence, Faculty of Computer Science, Universidad Politécnica de Madrid, 28660 Madrid, Spain
Authors to whom correspondence should be addressed.
Received: 1 July 2017 / Revised: 29 July 2017 / Accepted: 9 August 2017 / Published: 14 August 2017
(This article belongs to the Special Issue Advances in Mechanism Design for Robots)
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An acrobot is a planar robot with a passive actuator in its first joint. The main purpose of this system is to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up issue, when the robot has to rise itself by swinging up as a human acrobat does, and the balancing issue, when the robot has to maintain itself in the inverted pendulum position. We have developed three controllers for the swing-up problem applied to two types of motors: small and large. For small motors, we used the State-Action-Reward-State-Action (SARSA) controller and the proportional–derivative (PD) controller with a trajectory generator. For large motors, we propose a new controller to control the acrobot—a pulse-width modulation (PWM) controller. All controllers except SARSA are tuned using a genetic algorithm. View Full-Text
Keywords: acrobot; artificial intelligence; SARSA; PWM; genetic algorithm acrobot; artificial intelligence; SARSA; PWM; genetic algorithm

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Mier, G.; Lope, J.D. Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques. Inventions 2017, 2, 16.

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