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In this paper, we report on a "hybrid" scheme for regulating the swing up behavior of a two degree of freedom brachiating robot. In this controller, a previous "target dynamics" controller and a mechanical energy regulator are combined. The proposed controller guarantees the boundedness of the total energy of the system. Simulations suggest that this hybrid controller achieves much better regulation of the desired swing motion than the target dynamics method by itself.
Nakanishi, Jun; Fukuda, Toshio; and Koditschek, Daniel E., "A Hybrid Swing up Controller for a Two-link Brachiating Robot" (1999). Departmental Papers (ESE). Paper 367.
Date Posted: 03 June 2008
This document has been peer reviewed.