Energy-based swing-back control for continuous brachiation of a multilocomotion robot
Energy-based swing-back control for continuous brachiation of a multilocomotion robot
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DOI：
10.1002/int.20174
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发表时间：
2006-09-01
影响因子：
7
通讯作者：
Fukuda, Toshio
中科院分区：
文献类型：
--
作者：
Kajima, Hideki;Hasegawa, Yasuhisa;Fukuda, Toshio
我们提出了一种基于能量的多运动机器人控制方法，以提高连续臂动的稳定性。目标连续臂动是从一个杆到另一个杆的有效运动，像钟摆一样交换动能和势能。我们的控制策略为连续臂是控制摆动回的行动，使机器人泵了可行的能量抓住目标酒吧，然后运动的行动设计的基础上对称运动的钟摆，以保存总能量：动能和势能的总和。建议的控制器上实现的一种新型的移动的多运动机器人命名为“大猩猩机器人III”，其尺寸是模仿那些大猩猩。利用该机器人实现了在各种均匀阶梯上的连续臂移。实验结果表明了该控制算法的有效性。(c)2006 Wiley Periodicals，Inc.
We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous brachiation. The target continuous brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named "Gorilla Robot III" whose dimensions are mimicking those of a gorilla. Continuous brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm. (c) 2006 Wiley Periodicals, Inc.