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
收藏
页码：1025 / 1043
页数：19
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