Fabrication of Functional Gel-Microbead for Local Environment Measurement in Microchip

Proceedings of the 2008 IEEE International Conference on Robotics and Automation / 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, May 19-23, 200

Nanofixation with Low Melting Metal Based on Nanorobotic Manipulation

IEEE-NANO 200

Nanofabrication of Carbon Nanotubes Assisted with Oxygen Gas

IEEE-NANO 200

Preliminary studies of a second generation brachiation robot controller

We report on our preliminary studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape\u27s brachiation, we encode this task as the output of a target dynamical system . Numerical simulations indicate that the resulting controller solves a number of brachiating problems that we term the ladder , swing up and rope problems. Preliminary analysis provides some explanation for this success. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach