The Wire-Swing Motion of ASTERSIK and ER-Winch Locomotion Methods

Abstract

In this paper, a new locomotion method using selfexcitation wire-swing motion is proposed. A wire with a robot hanging from it is modeled to a simple 2-link-pendulum, and self-excitation pendulum motion is implemented. The reference angle is defined by the cycloid curve trajectory since the cyclic motion is a robust swing motion, and the required torque trajectory is confined to make the motion smooth so that the torque trajectory is optimized in the multi-links robot' s constraints. The resolved momentum control can manipulate the multi-links robot as a single mass model and it can also control the variation of representative momentum. The length of the wire has to be extended smoothly and quickly to a planned throwing point. We developed a new winch with an Electro-Rheological clutch, whose response to brakes is high. The throwing timing is designed simply, taking into consideration the flight and the friction of the winch. For safety landing, the landing velocity has to be as small as possible. Thus, the direction of the landing velocity is planned to be the same from the landing point to the winch, so that the brake of the winch can efficiently reduce velocity. These methods were implemented to the dynamic simulator and the real multi-link robot, and the results show the feasibility of the high-mobility with the wire-swing motion.