Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot
Copyright 1998 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1998, pages 787-792.
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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
We report on our recent empirical success in the study of a two-link brachiating robot. The "target dynamics" controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy.
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek. "Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot" Departmental Papers (ESE) (1998).
Available at: http://works.bepress.com/daniel_koditschek/66