The objective of this paper is the periodic rolling motion control for the Denguribot. The Denguribot is the Acrobot composed of 2 links with the curved contour. The outer contour of links is shaped from the arc whose radius is defferent by the tip and the sidepiece of the link. It is one of simple models of human rolling motions. The controller is designed based on input-output linearization, output zeroing control and transeverse linearization. The periodic rolling motion is realized in numerical simulation.
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