Hardware of Multi-Locomotion Robot
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 . 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].
KeywordsLink Structure Zero Moment Point Biped Walking Western Lowland Gorilla High Angular Velocity
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