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1、UniversityofPennsylvaniaScholarlyCommonsDepartmentalPapers(ESE)DepartmentofElectrical&SystemsEngineering4-1-2000ABrachiatingRobotControllerJunNakanishiUniversityofMichiganToshioFukudaNagoyaUniversityDanielE.KoditschekUniversityofPennsylvania,kod@seas.upenn.eduFoll
2、owthisandadditionalworksat:http://repository.upenn.edu/ese_papersPartoftheElectricalandComputerEngineeringCommons,andtheSystemsEngineeringCommonsRecommendedCitationJunNakanishi,ToshioFukuda,andDanielE.Koditschek,"ABrachiatingRobotController",.April2000.Copyright20
3、00IEEE.ReprintedfromIEEETransactionsonRoboticsandAutomation,Volume16,Issue2,April2000,pages109-123.ThismaterialispostedherewithpermissionoftheIEEE.SuchpermissionoftheIEEEdoesnotinanywayimplyIEEEendorsementofanyoftheUniversityofPennsylvania'sproductsorservices.Inte
4、rnalorpersonaluseofthismaterialispermitted.However,permissiontoreprint/republishthismaterialforadvertisingorpromotionalpurposesorforcreatingnewcollectiveworksforresaleorredistributionmustbeobtainedfromtheIEEEbywritingtopubs-permissions@ieee.org.Bychoosingtoviewthi
5、sdocument,youagreetoallprovisionsofthecopyrightlawsprotectingit.NOTE:Atthetimeofpublic,DanielKoditschekwasaffiliatedwiththeUniversityofMichigan.Currently,heisafacultymemberoftheSchoolofEngineeringattheUniversityofPennsylvania.ABrachiatingRobotControllerAbstractWer
6、eportonourempiricalstudiesofanewcontrollerforatwo-linkbrachiatingrobot.Motivatedbythependulum-likemotionofanape'sbrachiation,weencodethistaskastheoutputofa"targetdynamicalsystem."Numericalsimulationsindicatethattheresultingcontrollersolvesanumberofbrachiationprobl
7、emsthatwetermthe"ladder,""swing-up,"and"rope"problems.Preliminaryanalysisprovidessomeexplanationforthissuccess.Theproposedcontrollerisimplementedonaphysicalsysteminourlaboratory.Therobotachievesbehaviorsincluding"swinglocomotion"and"swingup"andiscapableofcontinuou
8、slocomotionoverseveralrungsofaladder.Wediscussanumberofformalquestionswhoseanswerswillberequiredtogainafullunderstandingofthestrengthsandweaknessesofthi
