2015
DOI: 10.1007/s10514-015-9497-1
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Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation

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Cited by 5 publications
(4 citation statements)
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“…According to results presented in refs. [32,33], a new approach for solving brachiation motion using the Gorilla robot is presented, whereby a humanoid robot swings and sequentially iterates its left and right hands to grasp each subsequent bar in a row on each step to move forward. It takes into account several important heuristics for the planning task, which is made difficult by the large number of links that influence the overall motion.…”
Section: Energy-based Control Schemesmentioning
confidence: 99%
“…According to results presented in refs. [32,33], a new approach for solving brachiation motion using the Gorilla robot is presented, whereby a humanoid robot swings and sequentially iterates its left and right hands to grasp each subsequent bar in a row on each step to move forward. It takes into account several important heuristics for the planning task, which is made difficult by the large number of links that influence the overall motion.…”
Section: Energy-based Control Schemesmentioning
confidence: 99%
“…In [8], a PD control and an adaptive robust control were employed to track optimal trajectories for a two link brachiating robot with uncertain kinematic and dynamic parameters, moving between fixed supports. Pchelkin et al [9] presented an optimization framework to generate trajectories for energy efficient brachiation of a 24-DoF Gorilla robot on horizontal ladder bars. A modelfree sliding mode control scheme was presented in [10], [11] for brachiating along a rigid structural member with an upward slope.…”
Section: Introduction and Related Workmentioning
confidence: 99%
“…[13], [14], we focus on the trajectory design for systems controlled by inputs of the continuous dynamics. The majority of works adopt parametric optimization methods, as, e.g., [15], [16], [17]. This means that trajectories are approximated as, for example, classical, trigonometric or Bézier polynomials and the optimization is performed with polynomial coefficients as decision variables.…”
mentioning
confidence: 99%
“…[18], the optimization problem is addressed via dynamics equation discretization and the optimal periodic trajectory is computed by means of an approximated cost function. Available software toolboxes are used to solve trajectory generation problems addressed in [15], [16], [17] and [18]. Recently, the optimization over jump times and/or mode sequence, as e.g., in [19] and [20], has been considered.…”
mentioning
confidence: 99%