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Swing and locomotion control for a two-link brachiation robot

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3 Author(s)
Saito, F. ; Sch. of Eng., Nagoya Univ., Japan ; Fukuda, T. ; Arai, F.

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.<>

Published in:

Control Systems, IEEE  (Volume:14 ,  Issue: 1 )