弾性枝を考慮した目標ダイナミクス法による2リンクブラキエーションロボットの制御手法の検討

抄録

This paper reports on our initial attempt to extend the target dynamics method for robot brachiation on elastic branches. Originally, the target dynamics controller was developed to encode the task as an output of the dynamical system that describes the pendulum-like motion of brachiation with an assumption of rigid handholds. In this paper, we apply the target dynamcis for the augmented system dynamics including the elastic bars modelled as springs. We present numerical simulations to illustrate the effectiveness of the proposed control strategy on a two-link robot model.