Swing and locomotion control for a two-link brachiation robot

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.<
>