Title :
Swing and locomotion control for two-link brachiation robot
Author :
Saito, Fuminori ; Fukuda, Toshio ; Arai, Fumihito
Author_Institution :
Dept. of Mech.-Inf. & Syst., Nagoya Univ., Japan
Abstract :
A mechanism and a control method of a two-link brachiation robot are described. The robot can generate motions by a heuristic method and locomotes with the trajectory and arm-direction feedback control. It controls the switching amplitude by a method based on parametric excitation. Experimental results of the swing and locomotion control of the robot using these methods are given. They enable the robot to catch its target and to continue locomotion from any initial states
Keywords :
feedback; manipulators; position control; velocity control; arm-direction feedback control; heuristic method; locomotion control; parametric excitation; switching amplitude; trajectory; two-link brachiation robot; Ambient intelligence; Control systems; Feedback control; Force control; Gravity; Learning systems; Mobile robots; Motion control; Systems engineering and theory; Torque;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291874
