Swing and locomotion control for a two-link brachiation robot
- 1 February 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 14 (1) , 5-12
- https://doi.org/10.1109/37.257888
Abstract
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.< >Keywords
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