2リンクブラキエーションロボットの制御 -目標ダイナミクス法の実ロボットへの適用- [in Japanese] Study on the Control of Two-link Brachiating Robot -Experimental Implementation of a Target Dynamics Controller- [in Japanese]
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We report on our empirical success in the study of two-link brachiating robot. In our previous work, we have proposed a new algorithm, the "target dynamics method." Inspired by the pendulum-like motion of an ape's brachiation, the task is encoded as an output of an appropriately chosen target dynamical system. Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the "ladder", "swing up" and "rope" problems. In this paper, the proposed controller is experimentally implemeted on a two-link brachiating robot. The swing locomotion and swing up behavior of the robot as well as continuous locomotion have been successfully achieved. The experimental results illustrate the validity of our control strategy.
JRSJ 17(1), pp.110-117, 1999-01-15
The Robotics Society of Japan