NDLI: Shaping energetically efficient brachiation motion for a 24-DOF gorilla robot

Content Provider	IEEE Xplore Digital Library
Author	Pchelkin, S.S. Shiriaev, A.S. Mettin, U. Freidovich, L.B. Aoyama, T. Lu, Z. Fukuda, T.
Copyright Year	2011
Description	Author affiliation: Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7491 Trondheim, Norway (Pchelkin, S.S.; Shiriaev, A.S.; Mettin, U.) \|\| Department Mechanical Science and Engineering, Nagoya University, Japan (Aoyama, T.; Lu, Z.; Fukuda, T.) \|\| Department of Applied Physics and Electronics, Umeå University, SE-901 87, Sweden (Freidovich, L.B.)
Abstract	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.
Starting Page	5094
Ending Page	5099
File Size	428356
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094789
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Dynamics Robot kinematics Legged locomotion Indexes Cost function Virtual Holonomic Constraints Dynamic Robot Locomotion Underactuated Robots Trajectory Generation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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