Study on the Control of a Two-Link Brachiating Robot (Brachiation on a Ladder with lrregular Intervals via Target Dynamics)

摘要

We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a “target dynamics” controller. Inspired by the pendulum -motion of an ape’s　brachiation, the task is encoded as an output of an appropriately chosen target dynamical system. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced handholds, which we term the “irregular ladder problem.” Numerical simulations and laboratory experiments illustrate the effectiveness of this generalization.