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A brachiating robot controller




We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an apeâ??s brachiation, we encode this task as the output of a â??target dynamical system.â? Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the â??ladder,â? â??swing-up,â? and â??ropeâ? 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 â??swing locomotionâ? and â??swing upâ? and is capable of continuous locomotion over several rungs of a ladder. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach.

Author(s): Nakanishi, J. and Fukuda, T. and Koditschek, D. E.
Book Title: IEEE Transactions on Robotics and Automation
Volume: 16
Number (issue): 2
Pages: 109-123
Year: 2000

Department(s): Autonomous Motion
Bibtex Type: Article (article)

Cross Ref: p1802
Note: clmc
URL: http://www-clmc.usc.edu/publications/N/nakanishi-TRA2000.pdf


  title = {A brachiating robot controller},
  author = {Nakanishi, J. and Fukuda, T. and Koditschek, D. E.},
  booktitle = {IEEE Transactions on Robotics and Automation},
  volume = {16},
  number = {2},
  pages = {109-123},
  year = {2000},
  note = {clmc},
  crossref = {p1802},
  url = {http://www-clmc.usc.edu/publications/N/nakanishi-TRA2000.pdf}