J-013

A Hybrid Swing up Controller for a Two-link Brachiating Robot

Authors: Jun Nakanishi, Toshio Fukuda and Daniel E. Koditschek
Affiliation: Jun Nakanishi: Dept. of Micro System Engineering, Nagoya University, Japan

Toshio Fukuda: Center for Cooperative Research in Advanced Science and Technology, Nagoya University, Japan

Daniel E. Koditschek: Dept. of Electrical Engineering and Computer Science, The University of Michigan, USA

Abstract
In this paper, we report on a "hybrid" scheme for regulating the swing up behavior of a two degree of freedom brachiating robot. In this controller, a previous "target dynamics" controller and a mechanical energy regulator are combined. The proposed controller guarantees the boundedness of the total energy of the system. Simulations suggest that this hybrid controller achieves much better regulation of the desired swing motion than the target dynamics method by itself.

Jun Nakanishi
Nagoya University
nakanisi@robo.mein.nagoya-u.ac.jp