Brachiation motion by a 2-DOF brachiating robot with hook-shaped end effectors

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.