DocumentCode :
2039469
Title :
Analytical Design Method of Brachiation Controller on the Irregular Ladder
Author :
Doi, M. ; Kojima, S. ; Matsuno, T. ; Fukuda, T. ; Hasegawa, Y.
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ.
fYear :
2006
fDate :
20-22 Feb. 2006
Firstpage :
887
Lastpage :
892
Abstract :
In this paper, we present the control method to achieve the continuous brachiation on the irregular ladder. The uniform ladder problem was solved by means of symmetric property previously. However, as for the irregular ladder problem, it´s impossible to build the controller based on symmetric property since the motion cannot be designed symmetrically. Therefore, it is necessary to estimate the energy difference caused by symmetry breaking. We apply passive dynamic autonomous control (PDAC), which was proposed previously, to the locomotion action and evaluate the energy difference. Swing motion is adjusted so as to satisfy the desired energy calculated from the energy difference. The validity of proposed method is tested by the experiment of Gorilla Robot III and the irregular ladder brachiation is realized
Keywords :
biocybernetics; biomimetics; controllers; manipulator kinematics; mobile robots; Gorilla Robot III; bio-inspired robot; brachiation controller design; energy difference; irregular ladder; multilocomotion robot; passive dynamic autonomous control; swing motion; symmetric property; symmetry breaking; Animals; Control systems; Design methodology; Legged locomotion; Motion analysis; Motion control; Prototypes; Robots; Systems engineering and theory; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
Type :
conf
DOI :
10.1109/BIOROB.2006.1639203
Filename :
1639203
Link To Document :
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