Experimental Investigation on Flying Motion of Transverse Brachiation Robot | IEEE Conference Publication | IEEE Xplore

Experimental Investigation on Flying Motion of Transverse Brachiation Robot


Abstract:

This paper presents design and implementation of a second generation of transverse ricochetal brachiation robot in the environments with ledges on the wall. To implement ...Show More

Abstract:

This paper presents design and implementation of a second generation of transverse ricochetal brachiation robot in the environments with ledges on the wall. To implement such unique hand-holding motion parallel to the wall, a gripper integrated with a quick-release mechanism was designed to provide sufficient clamping force and fast open-and-close gripper action during locomotion transitions. An optimization method was applied to obtain the desired tail reference trajectory for more efficient swing excitation. With the derived flying dynamic model, the flipping behavior of the robot was analyzed and a simple strategy of tail swing motion was proposed to adjust the flying posture and increase the chance of successful landing. The experiments on transverse ricochetal braichation demonstrate that the designed robot was able to finish a successful two-armed brachiation within an 8 cm gap distance.
Date of Conference: 09-12 July 2018
Date Added to IEEE Xplore: 02 September 2018
ISBN Information:
Electronic ISSN: 2159-6255
Conference Location: Auckland, New Zealand

References

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