期刊
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
卷 16, 期 2, 页码 109-123出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/70.843166
关键词
brachiation; dynamically dexterous robotics; limit cycles; locomotion; swing map; symmetry; target dynamics; task encoding; underactuated system
We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a 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. Preliminary analysis provides some explanation for this success. The proposed controller is implemented on a physical system in our laboratory. The robot achieves behaviors including swing locomotion and swing up and is capable of continuous locomotion over several rungs of a ladder. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach.
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