Sciweavers

ICRA
1999
IEEE

Brachiation on a Ladder with Irregular Intervals

14 years 3 months ago
Brachiation on a Ladder with Irregular Intervals
We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a "target dynamics" controller. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced handholds. Numerical simulations and laboratory experiments illustrate the effectiveness of this generalization.
Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
Added 03 Aug 2010
Updated 03 Aug 2010
Type Conference
Year 1999
Where ICRA
Authors Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek
Comments (0)