Mechanical Engineering Letters
Online ISSN : 2189-5236
ISSN-L : 2189-5236
Brachiation motion by a 2-DOF brachiating robot with hook-shaped end effectors
Yuji YAMAKAWA
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2018 Volume 4 Pages 18-00094

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Abstract

In this research I focus on mobile robots that move to target location, and I developed a new brachiating robot with a simple mechanism. The robot uses a hook-shaped end effector for sustaining the robot itself to avoid the falling. I proposed a motion principle and a control strategy to perform brachiation motion. In particular, I suggested a simple motion planning method based on the motion principle (pendulum motion) of a rigid body. Then, I realized the brachiation motion by using the developed brachiating robot and the proposed motion strategy in downward and upward slopes' situations.

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© 2018 The Japan Society of Mechanical Engineers
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