Dynamics and control of underactuated brachiation robots

Antonio Moran, Hiroshi Odagaki, Minoru Hayase

Research output: Contribution to conferencePaperpeer-review

4 Scopus citations

Abstract

The dynamics and control of brachiation robots are analyzed. These robots are underactuated nonlinear mechanical systems whose motion resembles that of a brachiation monkey. Two control methods are proposed to control the three-link robot. One considers only the nonlinear characteristics of the robot, while the other considers both the nonlinear and underactuated characteristics of the robot. Although controllers designed by both methods are able to drive the brachiation robot to the desired position, the motion characteristics and described trajectories are different for both controllers.

Original languageEnglish
Pages98
Number of pages1
StatePublished - 1997
Externally publishedYes
EventProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
Duration: 16 Jun 199720 Jun 1997

Conference

ConferenceProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
CityTokyo, Jpn
Period16/06/9720/06/97

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