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henmi ＠ t． kagawa −nc し ． jp An Acrobot which is s 量 mple model of gymnast on a horizontal bar is a typical example of underactuated systems and is a two −link manipulator with unactuated joint at the root ． This study discusses new swing − up controiler of the Acrobot based on behavior of a hQrizontal bar gymnast ， Proposed controller focuses to an equivalent center of mass of the Acrobot and the gymnast ． Fbr obtaining trajectory equat 量 ons of behavior of the gymnast ， video data of performance of the gymnast is analyzed ， And a partial linear 量 zation controller using analyzing results is proposed 負 〕r swing − up control of the Acrobot 、 Finally an effectiveness of pmposed controller is shown by numerical simuLation using MATLAB

In 血 ispaper， a motion controller ofathree link underactuated robot based on behaviors of 出e horizontal bar gymmast is discussed ． Proposed controller is designed fQrcusing on an Equivalent Center of Mass ( ECM ) of the robot and the gymnast ． At 五rst， the behaviors of the ECM of the gyrnnast are analyzed by using a motion capturing technique ， and then all ef 丘cient motion for a swing − up and giant − swing action are identified ffom analysis results． Next ， a controller which can realize that the ECM of the robot replicates this efficient motion is designed． An effec 丘veness ofproposed controller is verified by the numeric simulation by using MArLABISimulink ，