Title :
Experimental implementation of a "target dynamics" controller on a two-link brachiating robot
Author :
Nakanishi, Jun ; Fukuda, Toshio ; Koditschek, Daniel E.
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
We report on our recent empirical success in the study of a two-link brachiating robot. The "target dynamics" controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy.
Keywords :
manipulator dynamics; motion control; parameter estimation; step response; continuous locomotion; manipulators; motion control; parameter estimation; step response; swing locomotion; target dynamics; two-link brachiating robot; Computer science; Control systems; Force feedback; Kinetic theory; Laboratories; Learning systems; Legged locomotion; Oscillators; Robot control; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677081
