A study on a brachiation controller for a multi-locomotion robot — realization of smooth, continuous brachiation

Authors: Hideki Kajima; Masahiro Doi; Yasuhisa Hasegawa; Toshio Fukuda

Source: Advanced Robotics, Volume 18, Number 10, 2004 , pp. 1025-1038(14)

Publisher: VSP, an imprint of Brill

Key:

- Free Content

- New Content

- Subscribed Content

- Free Trial Content

Abstract:

In this paper, we present a control method to realize smooth continuous brachiation. The target brachiation is basically divided into two actions: a swing action and a locomotion action. In order to realize the continuous brachiation effectively and smoothly, it is necessary to start the swing action as soon as the robot grasps the front target bar at the end of the locomotion action. The collision, which occurs at the moment the robot grips the target bar, affects the pendulum motion of the robot. The action of bending the elbow joint of the swinging arm is proposed in order to solve this gripping problem. The elbow-bending action enables the robot to decrease the impact forces and use the excess mechanical energy after the end of the locomotion phase. Thus, there is no loss of energy and waste of time during the subsequent swing phase. Experimental results show that the robot can successfully achieve smooth, continuous brachiation.

Keywords: MULTI-LOCOMOTION ROBOT; CONTINUOUS BRACHIATION; ELBOW-BENDING; MOTION CONTROL

Document Type: Research article

DOI: 10.1163/1568553042674671

Your trusted access to this article has expired.

The full text electronic article is available for purchase. You will be able to download the full text electronic article after payment.

$25.00 plus tax Refund Policy