A Brachiating Robot Controller
Copyright 2000 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 16, Issue 2, April 2000, pages 109-123.
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NOTE: At the time of public, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.
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. 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.
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek. "A Brachiating Robot Controller" Departmental Papers (ESE) (2000).
Available at: http://works.bepress.com/daniel_koditschek/6