NDLI: Stable open-loop brachiation on a vertical wall

Content Provider	IEEE Xplore Digital Library
Author	Rosa, N. Barber, A. Gregg, R.D. Lynch, K.M.
Copyright Year	2012
Description	Author affiliation: Center for Bionic Medicine, Rehabilitation Institute of Chicago, IL 60611, USA (Gregg, R.D.) \|\| Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA (Rosa, N.; Barber, A.; Lynch, K.M.)
Abstract	This paper presents a hybrid mechanical model for the Gibbot, a robot that dynamically locomotes along a vertical wall in a manner analogous to gibbons swinging between branches in the forest canopy. We focus on one particular gait, continuous-contact brachiation, which always has one handhold in contact with the wall. We use zero-cost, unstable solutions corresponding to horizontal brachiation, originally found by Gomes and Ruina, as templates to generate open-loop stable gaits in arbitrary directions. The first case considered is passive brachiation down a shallow slope, roughly corresponding to upside-down locomotion of the well-studied compass-gait biped. We then consider underactuated brachiation with a constant forcing term at the elbow to produce open-loop stable descending and ascending gaits.
Starting Page	1193
Ending Page	1199
File Size	993375
Page Count	7
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225293
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Clamps Dynamics Robot kinematics Equations Joints Switches
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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