Development of a New Brachiation Robot and Motion Planning (2nd report)

-Grasp and Release Motions Using Fock Shape End-effector-

Abstract

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 a hook for a grasp mechanism. And we propose a motion principle and a control strategy for achieving a brachiation motion by the developed robot. In particular, we propose the motion principle based on the pendulum motion. Using the brachiation robot and the proposed motion strategy, we show experimental result of brachiation motion.