Title :
Swing and locomotion control for a two-link brachiation robot
Author :
Saito, Fuminori ; Fukuda, Toshio ; Arai, Fumihito
Author_Institution :
Sch. of Eng., Nagoya Univ., Japan
Abstract :
A mechanism and a control method is described for a two-link brachiation robot, a mobile robot that moves using its arms much like a gibbon moving from branch to branch. In our approach, the robot generates motions using a heuristic method, and achieves locomotion with trajectory and arm-direction feedback control. The robot can also control its swinging amplitude by a method based on parametric excitation. The robot´s swing and locomotion control enable it to catch its target and continue locomotion from any initial state.<>
Keywords :
feedback; mobile robots; arm-direction feedback control; heuristic method; locomotion control; mobile robot; parametric excitation; swing control; swinging amplitude control; trajectory feedback control; two-link brachiation robot; Computational modeling; Control systems; Digital arithmetic; Feedback control; Gravity; Learning systems; Mobile robots; Motion control; Robot control; Torque;
Journal_Title :
Control Systems, IEEE
