Experimental Implementation of a Target Dynamics Controller on a Two-link Brachiating Robot

Abstract

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

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