A Survey on Brachiation Robots: An Energy-Based Review

Andreuchetti, Sibyla; Oliveira, Paulo Vinicius; Fukuda, Toshio

doi:10.1017/s026357472000137x

Cited by 4 publications

(4 citation statements)

References 41 publications

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“…In this phase, the robot maintains the posture achieved in the previous phase while swinging the tail link repeatedly until the swing amplitude is sufficient to initiate brachiation. Note that a swing-up phase is commonly used in underactuated mechanical systems, such as brachiation robots [ 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 ] or acrobots [ 28 , 29 , 30 ]. Among the numerous control methods proposed for robot swing motion control [ 31 , 32 , 33 , 34 , 35 ], we adopted the energy-based method proposed by Spong [ 32 ] to generate the torque by which to drive the actuated link (tail), such that the direction of the torque vector is the same as the direction of the underactuated link (body and arms).…”

Section: Robot Designmentioning

confidence: 99%

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Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations

Lin

Yongjie

2022

Sensors

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Bio-inspired transverse brachiation robots mimic the movement of human climbers as they traverse along ledges on a vertical wall. The constraints on the locomotion of these robots differ considerably from those of conventional brachiation robots due primarily to the need for robust hand-eye coordination. This paper describes the development of a motion control strategy for a brachiation robot navigating between wall ledges positioned on a level plane or at different elevations. We based our robot on a four-link arm-body-tail system performing a four-phase movement, including a release phase, body reversal phase, swing-up phase, and grasping phase. We designed a gripper that uses passive wrist joint motion to grasp the ledge during the tail swing. We also developed a dynamic model by which to coordinate the swing-up movement, define the phase switching conditions, and time the grasping action of the grippers. In experiments, the robot proved highly effective in traversing between wall ledges of the same or different elevations.

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Section: Robot Designmentioning

confidence: 99%

“…The range of motion can be increased by having the arms swing the lower part of the body like a pendulum motion similar to that of primates. This motion is referred to as brachiation [ 14 , 15 ].…”

Section: Introductionmentioning

confidence: 99%

Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations

Lin

Yongjie

2022

Sensors

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“…A survey on this category of robots with dynamics and control schemes is introduced in ref. [33]. Also, the sustainability of this robot is increased as a result of using the legs in the robot.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling, and manufacturing of a novel robust gripper-based climbing robot: KharazmBot

Tourajizadeh

2023

Robotica

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There are a lot of high-height structures that should be inspected or manipulated frequently due to maintenance purposes. According to the safety considerations and time or cost limitations, substituting the human operator with an automatic robot is inevitable. The main objective of this paper is to design and manufacture a novel climbing robot equipped with grip-based locomotion system which can climb through scaffold structures and trusses to accomplish inspectional and operational tasks. The proposed robot has good maneuverability and stability. The proposed robot is manufactured in order to verify the simulation results with experimental data. The chassis and its corresponding grippers are designed first, and the corresponding model of the system is extracted. This model is used then for designing the controlling strategy of the system. The path planning of the robot is conducted to realize the climbing process by the robot during several steps in an optimum way. The prototype of the proposed robot is manufactured at Kharazmi University called KharazmBot. Experimental results not only show the capability of the manufactured robot toward ascending the mentioned structures but also prove its high stability as a result of its designed gripper and also its good maneuverability as a result of its over-actuated mechanism. Thus, it is concluded that the designed and manufactured climbing robot of this paper can successfully ascend through the pipes and trusses and perform a desired inspectional or operational task with good accuracy and safety while its stability is also satisfied.

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“…Humans and apes are both primates, so brachiation robots modeled on humans and apes are similar [ 14 ]. However, the target handholds of ape-inspired robots are round ladder rungs [ 15 , 16 ] or cables [ 17 , 18 ], whereas TLB robots move transversely at 90° to ledges [ 2 ].…”

Section: Introductionmentioning

confidence: 99%

Multi-Locomotion Design and Implementation of Transverse Ledge Brachiation Robot Inspired by Sport Climbing

Lin

Lee

2023

Biomimetics

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Brachiation robots mimic the locomotion of bio-primates, including continuous brachiation and ricochetal brachiation. The hand-eye coordination involved in ricochetal brachiation is complex. Few studies have integrated both continuous and ricochetal brachiation within the same robot. This study seeks to fill this gap. The proposed design mimics the transverse movements of sports climbers holding onto horizontal wall ledges. We analyzed the cause-and-effect relationship among the phases of a single locomotion cycle. This led us to apply a parallel four-link posture constraint in model-based simulation. To facilitate smooth coordination and efficient energy accumulation, we derived the required phase switching conditions as well as joint motion trajectories. Based on a two-hand-release design, we propose a new style of transverse ricochetal brachiation. This design better exploits inertial energy storage for enhanced moving distance. Experiments demonstrate the effectiveness of the proposed design. A simple evaluation method based on the final robot posture from the previous locomotion cycle is applied to predict the success of subsequent locomotion cycles. This evaluation method serves as a valuable reference for future research.

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A Survey on Brachiation Robots: An Energy-Based Review

Cited by 4 publications

References 41 publications

Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations

Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations

Design, modeling, and manufacturing of a novel robust gripper-based climbing robot: KharazmBot

Multi-Locomotion Design and Implementation of Transverse Ledge Brachiation Robot Inspired by Sport Climbing

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