Hardware of Multi-Locomotion Robot

  • Toshio Fukuda
  • Yasuhisa Hasegawa
  • Kosuke Sekiyama
  • Tadayoshi Aoyama
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 81)

Abstract

This section introduces brachiation robots that are monkey-type robots developed previously in our laboratory as one of bio-inspired robots. In pioneering research, the dynamics of locomotion were analyzed and locomotion types proposed using a six-link brachiation robot [64]. Following this research, the second one is a two-link brachiation robot “Brachiator II” shown in Fig. 3.1. This robot has one actuator at the elbow connecting two links, each of which has a gripper. Because the gripper cannot impose torque on the handhold directly, this is an underactuated mechanical system. We developed a two-link brachiation robot and proposed a heuristic method to find feasible motions [67, 244, 245].

Keywords

Link Structure Zero Moment Point Biped Walking Western Lowland Gorilla High Angular Velocity 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Toshio Fukuda
    • 1
  • Yasuhisa Hasegawa
    • 2
  • Kosuke Sekiyama
    • 1
  • Tadayoshi Aoyama
    • 3
  1. 1.Department of Micro-Nano Systems EngineeringNagoya UniversityNagoyaJapan
  2. 2.Department of Information Interaction TechnologiesUniversity of TsukubaTsukuba-cityJapan
  3. 3.Department of System CyberneticsHiroshima UniversityHigashiJapan

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