Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot
2011 (English)Conference paper (Refereed)
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.
Dynamic Robot Locomotion, Underactuated Robots, Trajectory Generation, Virtual Holonomic Constraints
IdentifiersURN: urn:nbn:se:umu:diva-88102DOI: 10.1109/IROS.2011.6094789ISI: 000297477505069OAI: oai:DiVA.org:umu-88102DiVA: diva2:713644
IEEE/RSJ International Conference on Intelligent Robots and Systems, SEP 25-30, 2011, San Francisco, CA