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Brachiation on a ladder with irregular intervals

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3 Author(s)
Nakanishi, J. ; Dept. of Micro Syst. Eng., Nagoya Univ., Japan ; Fukuda, T. ; Koditschek, D.E.

We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from hand-hold to hand-hold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a “target dynamics” controller. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced hand-holds. Numerical simulations and laboratory experiments illustrate the effectiveness of this generalization

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999

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