Motion control of brachiation robot by means of final-state control with error learning

摘要

This study proposes a method for obtaining a feedforward input for motion control of a brachiation robot which has a nonlinear property in its dynamics. We deal with the brachiation robot which has three links with two actuators and no actuator at the root of the first link. We regard the brachiation robot with a nonlinear property as a time-varying system and apply the error learning method of final-state control.