@article{oai:muroran-it.repo.nii.ac.jp:00008878,
 author = {KAJIWARA, Hidekazu and 梶原, 秀一 and 橋本, 幸男 and HASHIMOTO, Yukio and 松田, 敏彦 and MATSUDA, Toshihiko and 土谷, 武士 and TSUCHIYA, Takeshi},
 issue = {4},
 journal = {日本ロボット学会誌, Journal of the Robotics Society of Japan},
 month = {May},
 note = {application/pdf, This paper discusses a motion control of horizontal bar gymnast robot with two links and one passive joint on the bar. First, we show that the amplitude of the swing of the first link increases with resonance and parametric excitation by swinging the second link periodically. Next, we propose the control method using entrainment to produce each excitation by swinging the second link ‘in phase’ with the motion of the first link. In our method, the control input is consisted of periodic solution of van der Pol's equation inputted the angular velocity of the first link. Finally, we present experimental results that swing up control and continuous giant swings can be realized in the real robot.},
 pages = {515--520},
 title = {鉄棒ロボットの数理解析と運動制御},
 volume = {18},
 year = {2000},
 yomi = {カジワラ, ヒデカズ and ハシモト, ユキオ and マツダ, トシヒコ and ツチヤ, タケシ}
}