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Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering (NTNU), Robotics and Control Lab (Umeå University))
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)ORCID iD: 0000-0003-0730-9441
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2011 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We consider a 24-degrees-of-freedom monkey robot that is supposed to perform brachiation locomotion, i.e. swinging from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point about which the robot swings is a passive hinge. We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search: (a) introduce a family of coordination patterns to be enforced on the dynamics with respect to a path coordinate; (b) formulate geometric equality constraints that are necessary for periodic locomotion; (c) generate trajectories from integrable reduced dynamics associated with the passive hinge; (d) evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation which allows us to incorporate the gradient of the cost function into the search algorithm.

Place, publisher, year, edition, pages
2011. 5094-5099 p.
Keyword [en]
Dynamic Robot Locomotion, Underactuated Robots, Trajectory Generation, Virtual Holonomic Constraints
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-88102DOI: 10.1109/IROS.2011.6094789ISI: 000297477505069OAI: oai:DiVA.org:umu-88102DiVA: diva2:713644
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, SEP 25-30, 2011, San Francisco, CA
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-04-23

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Shiriaev, AntonMettin, UweFreidovich, Leonid
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf