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Swing and locomotion control for two-link brachiation robot

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3 Author(s)
Saito, F. ; Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan ; Fukuda, T. ; Arai, F.

A mechanism and a control method of a two-link brachiation robot are described. The robot can generate motions by a heuristic method and locomotes with the trajectory and arm-direction feedback control. It controls the switching amplitude by a method based on parametric excitation. Experimental results of the swing and locomotion control of the robot using these methods are given. They enable the robot to catch its target and to continue locomotion from any initial states

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993