Name
Abstract | ||
|---|---|---|
The brachiation robot is a mobile robot which dynamically moves from branch to branch like a long-armed ape, swinging its body like a pendulum. Apes can learn such dynamic behaviors by trial and errors. In such fast motion, feedforward control is dominant and our brachiation robot generates feedforward control inputs by the proposed heuristic learning method. Also, the robot controls its swinging amplitude by the method based on a principle of parametric excitation. Experimental results show that the proposed method enables the robot to catch its target and to perform locomotion from any initial state. |
Year | DOI | Venue |
|---|---|---|
1996 | 10.1016/0921-8890(96)00002-4 | ROBOTICS AND AUTONOMOUS SYSTEMS |
Keywords | Field | DocType |
feedforward control,motion control,robot control,mobile robot | Robot control,Motion control,Brachiation,Simulation,Computer science,Artificial intelligence,Robot,Pendulum,Robotics,Mobile robot,Feed forward | Journal |
Volume | Issue | ISSN |
18 | 1-2 | 0921-8890 |
Citations | PageRank | References |
6 | 0.76 | 11 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Toshio Fukuda | 1 | 2723 | 818.58 |
| Fuminori Saito | 2 | 132 | 32.23 |