Transition Motion from Ladder Climbing to Brachiation
The environmental information is given beforehand and includes the intervals and shape parameters of the rungs on the ladder. The experimental environment, shown in Fig. 7.1, is as follows:
A rigid ladder is set up vertically.
The cross section of each rung on the vertical ladder is a 2 × 2 cm2 square, and the rungs are covered with rubber plates for slip prevention.
Another ladder that connects with the top of the vertical ladder is set up horizontally to simulate tree limbs for primates’ brachiation.
Each rung on the horizontal ladder is a cylinder (φ 2.5 cm) connected to the beams with two rubber suspension units, as shown in Fig. 7.1. The mechanical specifications are shown in table 1, where α is the deformation angle of the suspension unit, as shown in Fig. 7.1.
The intervals between rungs on the vertical and horizontal ladders are 20 cm and 40 cm, respectively.
KeywordsInternal Stress Position Control Position Error Transition Motion Contact Constraint
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