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.
Nakanishi, Jun; Fukuda, Toshio; and Koditschek, Daniel E., "Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot" (1998). Departmental Papers (ESE). Paper 371.
Date Posted: 03 June 2008
This document has been peer reviewed.