演讲人简介：
Claude H.Moog holds the position of“Directeur de Recherche”at CNRS,France.He is aFellow of the IEEE since 2007.His research interests focus on theoretical aspects of nonlinear systems and control,including continuous-time and discrete-time systems.He is involved in applications to robotics and biological systems.He coauthored a book on algebraic methods for nonlinear control systems with G.Conte and A.M.Perdon.He serves as an Associate Editor for Systems and Control Letters since January 2004,and IMAMCI since January 2008.

报告内容简介：
The seminar will consist in a non technical presentation of the activities of IRCCyN in the area of control and robotics,and in a technical presentation including a classification of simple 2 degrees of freedom mechanical systems. Amongst,the Control of the so-called Acrobot is shown to be instrumental for the analysis and control of more sophisticated biped robots as shown below. A four link biped robot and a virtual Acrobot
These are underactuated systems,with a degree of underactuation equal to 1.The cyclic variable defines the orientation of the mechanical system and is not actuated.The latter determines some specific properties in the structure of the system. Other celebrated systems are the pendubot,the ball and beam system,the rotary pendulum which are shown to be quite equivalent;the inertia wheel pendulum which is show to be flat,…