ブラキエーションロボットの開発と運動生成（第1報）

―把持機構に電磁石を用いた動作手法―

抄録

In this research we focus on locomotive robots for moving a target location, especially we develop a new brachiation robot which is a simple mechanism. In the brachiation robot, we use an electromagnet for a grasp mechanism. And we propose two types of motion principles and control strategies for each motion principle in order to achieve a brachiation motion by the developed robot. In particular, we propose the motion principles based on the pendulum motion. Using the brachiation robot and the proposed motion strategies, we show experimental results of two brachiation motions.