Motion control of three-link brachiation robot by using final-state control with error learning

Nishimura, Hidekazu; Funaki, Koji

doi:10.1109/3516.686680

Cited by 42 publications

(13 citation statements)

References 12 publications

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“…Animals can distribute the load to supporting limbs properly and make themselves feel comfortable. In conventional robotic research, a lot of biomimetic robot locomotions have been designed, such as biped walking [1], quadruped walking [2], brachiation [3]. These types of locomotion are realized with the cooperation of robot limbs.…”

Section: Introductionmentioning

confidence: 99%

Vertical ladder climbing down motion with internal stress adjustment for a multi-locomotion robot

Lü

Aoyama

Sekiyama

et al. 2011

2011 International Symposium on Micro-NanoMechatronics and Human Science

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Ahstract-This paper describes a ladder climbing down motion for a multi-locomotion robot (MLR). Since a closed kinematic chain is formed by robot links and the ladder in the ladder climbing down motion, if there exist redundant position con trolled joints, an internal stress would appear due to the position errors (in the environment or in the joint position, ... ). The internal stress has no contribution to equilibrate the robot load (weight and inertial force), however it produce greater torsional stress to the robot joint inside the closed chain. A control algorithm so that is proposed to adjust the internal stress. The primary contribution is in improving the working condition and minimizing the total squared torques of robot joints by reducing the additional internal stress. Since the pace gait is fast and flexible for robot climbing down the ladder, it is taken as an example to explain the proposed control method.

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Section: Introductionmentioning

confidence: 99%

Vertical ladder climbing down motion with internal stress adjustment for a multi-locomotion robot

Lü

Aoyama

Sekiyama

et al. 2011

2011 International Symposium on Micro-NanoMechatronics and Human Science

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“…In recent years, a lot of moving motions have been researched to make a robot move naturally like an animal, such as biped walking [1], quadruped walking [2], brachiation [3]. However, these motions are performed by different robots and most of the robots have a single type of locomotion.…”

Section: Introductionmentioning

confidence: 99%

Walk-to-brachiate transfer of multi-locomotion robot with error recovery

Lü

Aoyama

Sekiyama

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper describes walk-to-brachiate transfer of a multi-locomotion robot (MLR). The MLR has multiple types of locomotion such as biped walking, quadruped walking and brachiation . This transfer is carried out through vertical ladder climbing as the robot must raise its body to start brachiating. As a result we have designed two stable transfer motions from walk to climb and from climb to brachiate, while contact situations and constraints of the robot are changing during the transfers. In addition, we have proposed a control algorithm by considering the reaction force from environment, and the setting of parameter is based on a kinetic model of the robot in order to tolerate relative position errors between the robot and its environments such as rungs of the ladder. The robustness of the designed motions with error corrections is experimentally verified.

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“…Another important work is Funaki 1996, Nishimura andFunaki 1998), where an error learning method of the final-state control is applied to an underactuated robot. That paper considered a linearized state-space formulation with time-varying parameters.…”

Section: Introductionmentioning

confidence: 99%