DocumentCode
1594065
Title
Experimental implementation of a "target dynamics" controller on a two-link brachiating robot
Author
Nakanishi, Jun ; Fukuda, Toshio ; Koditschek, Daniel E.
Author_Institution
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Volume
1
fYear
1998
Firstpage
787
Abstract
We report on our recent empirical success in the study of a two-link brachiating robot. The "target dynamics" controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy.
Keywords
manipulator dynamics; motion control; parameter estimation; step response; continuous locomotion; manipulators; motion control; parameter estimation; step response; swing locomotion; target dynamics; two-link brachiating robot; Computer science; Control systems; Force feedback; Kinetic theory; Laboratories; Learning systems; Legged locomotion; Oscillators; Robot control; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.677081
Filename
677081
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