Kinematic and dynamic analysis of a brachiating tree-to-tree machine

Meaclem, Christopher V.; Gutschmidt, Stefanie; Chen, Xiaoqi; Parker, Richard

doi:10.1109/robio.2015.7418952

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General Overview Of Brachiation Robot Control1

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Cited by 3 publications

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“…The work presented in ref. [14] proposes a different application of brachiation with a robot able to move from one tree to another using motion in the horizontal plane. They derive kinematic and dynamic models.…”

Section: General Overview Of Brachiation Robot Controlmentioning

confidence: 99%

A Survey on Brachiation Robots: An Energy-Based Review

Andreuchetti¹,

Oliveira²,

Fukuda³

2021

Robotica

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SUMMARY Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

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Section: General Overview Of Brachiation Robot Controlmentioning

confidence: 99%