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| Record Number | 1802 |
| Reference Type | Journal Article |
| Author(s) | Nakanishi, J.;Fukuda, T.;Koditschek, D. E. |
| Year | 2000 |
| Title | A brachiating robot controller |
| Journal/Conference/Book Title | IEEE Transactions on Robotics and Automation |
| Keywords | dynamic systems, nonlinear robot control, brachiation, dynamically dexterous robotics, limit cycles, locomotion, swing map, symmetry, target dynamics, task encoding, underactuated system. |
Abstract |
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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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/N/nakanishi-TRA2000.pdf
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| Volume | 16 |
| Number | 2 |
| Pages | 109-123 |
| Short Title | A brachiating robot controller |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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