Energy-based swing-back control for continuous brachiation of a multilocomotion robot

被引：27

作者：

Kajima, Hideki ^{[1
]}

Hasegawa, Yasuhisa

Doi, Masahiro

Fukuda, Toshio

机构：

[1] Univ Tsukuba, Dept Intelligent Interact Technol, Tsukuba, Ibaraki 305, Japan

[2] Nagoya Univ, Dept Micronano Syst Engn, Nagoya, Aichi, Japan

来源：

INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS | 2006年 / 21卷 / 09期

关键词：

20;

D O I：

10.1002/int.20174

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous brachiation. The target continuous brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named "Gorilla Robot III" whose dimensions are mimicking those of a gorilla. Continuous brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm. (c) 2006 Wiley Periodicals, Inc.

引用

页码：1025 / 1043

页数：19

共 50 条

[21] New analytical results of energy-based swing-up control for the Pendubot [J].

Xin, Xin ;

Tanaka, Seiji ;

She, Jinhua ;

Yamasaki, Taiga .

INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 2013, 52 :110-118

[22] Experimental Verification of Energy-Based Swing-up Control for a Rotational Pendulum [J].

Tanaka, Seiji ;

Xin, Xin ;

Yamasaki, Taiga .

2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2012, :534-539

[23] Energy-based Swing-up Control of the Soft Inverted Pendulum with Affine Curvature [J].

Wang, Yongjia ;

Xin, Xin .

NONLINEAR DYNAMICS, 2025, 113 (16) :21233-21252

[24] Energy-based control for a biologically inspired hexapod robot with rolling locomotion [J].

Nemoto, Takuma ;

Elara, Mohan Rajesh ;

Lwase, Masami .

DIGITAL COMMUNICATIONS AND NETWORKS, 2015, 1 (02) :125-133

[25] Energy-based control for a biologically inspired hexapod robot with rolling locomotion [J].

Takuma Nemoto ;

Rajesh Elara Mohan ;

Masami Iwase .

Digital Communications and Networks, 2015, 1 (02) :125-133

[26] Energy-Based Swing-Up Control for a Remotely Driven Acrobot: Theoretical and Experimental Results [J].

Xin, Xin ;

Yamasaki, Taiga .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2012, 20 (04) :1048-1056

[27] Jumping Motion Based on Momentum Optimization Control and Differential Dynamic Programming for a Multilocomotion Robot [J].

Liu, Guoshuai ;

Lu, Zhiguo ;

Wang, Ruchao ;

Zhao, Haibin ;

Liu, Chong ;

Shi, Xinhao .

ADVANCED THEORY AND SIMULATIONS, 2022, 5 (05)

[28] Energy-Based Control of a Thruster-Assisted Underwater Hexapod Robot on Deformable Terrains [J].

Chen, Lepeng ;

Cui, Rongxin ;

Yan, Weisheng ;

Zhao, Zhexuan .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2024, 29 (04) :3146-3156

[29] Energy-based nonlinear control of Pendubot [J].

Fu, Xuedong ;

Pei, Hailong ;

Wu, Guozhao .

Jiqiren/Robot, 2000, 22 (06) :451-456

[30] Energy-based swing-up of the acrobot and time-optimal motion [J].

Banavar, RN ;

Mahindrakar, AD .

CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2, 2003, :706-711

← 1 2 3 4 5 →