Modeling and Control of Brachiating Robots Traversing Flexible Cables

Farzan, Siavash; Hu, Ai-Ping; Davies, Evan; Rogers, Jonathan

doi:10.1109/icra.2018.8461036

Cited by 20 publications

(16 citation statements)

References 25 publications

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“…Through simulation and comparison with a partial feedback linearization controller, it is shown that the approach using the LQR controller is able to reliably achieve the desired brachiating motion in the presentation of dynamic uncertainty, external perturbations, and off-nominal initial conditions. In their previous work, 45 the dynamic model and optimal trajectory generation scheme are described. This model is used to formulate an energy-minimizing optimal control strategy.…”

Section: Energy-based Control Schemesmentioning

confidence: 99%

A Survey on Brachiation Robots: An Energy-Based Review

Andreuchetti¹,

Oliveira²,

Fukuda³

2021

Robotica

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SUMMARY Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

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Section: Energy-based Control Schemesmentioning

confidence: 99%

A Survey on Brachiation Robots: An Energy-Based Review

Andreuchetti¹,

Oliveira²,

Fukuda³

2021

Robotica

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“…Several analytical methods such as lumped-mass model [18] and finite element method [19] have been proposed to derive deterministic dynamics models for flexible cables. However, including a high-fidelity flexible cable dynamics into a robot model results in a large number of generalized coordinates, making it impractical for a feedback control design.…”

Section: Robot-cable Model and Dynamics A Low-fidelity Dynamic Model ...mentioning

confidence: 99%

Cable Estimation-Based Control for Wire-Borne Underactuated Brachiating Robots: A Combined Direct-Indirect Adaptive Robust Approach

Farzan¹,

Azimi²,

Hu³

et al. 2020

Preprint

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In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive estimation scheme to approximate the unknown dynamic effects of the flexible cable as an external force with parametric uncertainties. A boundary layer-based sliding mode control is then designed to compensate for the residual unmodeled dynamics and time-varying disturbances, in which the control gain is updated by an auxiliary direct adaptive control mechanism. Stability analysis and derivation of adaptation laws are carried out through a Lyapunov approach, which formally guarantees the stability and tracking performance of the robot-cable system. Simulation experiments and comparison with a baseline controller show that the combined direct-indirect adaptive robust control framework achieves reliable tracking performance and adaptive system identification, enabling the robot to traverse flexible cables in the presence of unmodeled dynamics, parametric uncertainties and unstructured disturbances.

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“…[17] built three-link robot but the arms of their robot were too short to generate dynamical effects, thus in their work arms were neglected in the robot model. The recent "Tarzan" robot [18] was mainly focused on how to traverse along a flexible cable, while the robot was still designed to have two-link structure.…”

Section: B Brachiation Robotsmentioning

confidence: 99%

Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller

Yang¹,

Gu²,

Ruohai³

et al. 2019

Preprint

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This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a full order dynamics model for the robot and formulate each cycle of robot swing motion as an optimal control problem. The iterative Linear Quadratic Regulator (iLQR) algorithm is used to find the optimal control strategy during one swing. We select suitable robot design parameters by comparing the cost of robot motion generated by the iLQR algorithm for different robot designs. In particular, using this approach we show the importance of having a body link and low inertia arms for efficient brachiation. Further, we propose a trajectory tracking controller that combines a cascaded PID controller and an input-output linearization controller to enable the robot to track desired trajectory precisely and reject external disturbance during brachiation. Experiments on the simulated robot and the real robot demonstrate that the robot can robustly swing between monkey bars with same or different spacing of handholds.

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Modeling and Control of Brachiating Robots Traversing Flexible Cables

Cited by 20 publications

References 25 publications

A Survey on Brachiation Robots: An Energy-Based Review

A Survey on Brachiation Robots: An Energy-Based Review

Cable Estimation-Based Control for Wire-Borne Underactuated Brachiating Robots: A Combined Direct-Indirect Adaptive Robust Approach

Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller

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