Date of this Version
We report on our recent empirical success in the study of a two-link brachiating robot. The "target dynamics" controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy.
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek, "Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot", . May 1998.
Date Posted: 03 June 2008
This document has been peer reviewed.