Open Access. Powered by Scholars. Published by Universities.®
![Digital Commons Network](http://assets.bepress.com/20200205/img/dcn/DCsunburst.png)
Operations Research, Systems Engineering and Industrial Engineering Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
Daniel E Koditschek
We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a "target dynamical system." Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the "ladder," "swing-up," and "rope" problems. Preliminary analysis provides some explanation for this success. The proposed controller is implemented on a physical system in our laboratory. The robot achieves behaviors including "swing locomotion" and "swing up" and is capable of continuous locomotion over several rungs of a ladder. …