TY - JOUR

T1 - Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation

AU - Pchelkin, Stepan S.

AU - Shiriaev, Anton S.

AU - Mettin, Uwe

AU - Freidovich, Leonid B.

AU - Paramonov, Leonid V.

AU - Gusev, Sergey V.

PY - 2016

Y1 - 2016

N2 - We consider a model of a 24-degree-of-freedom monkey robot that is supposed to perform a brachiation locomotion, i.e. to swing from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point, about which the robot swings, is a passive hinge.We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search procedure consisting on the following steps: (a) to introduce a parametrized family of coordination patterns to be enforced on the dynamics with respect to a path coordinate; (b) to formulate geometric equality constraints that are necessary to achieve a periodic locomotion; (c) to generate trajectories from integrable reduced dynamics associated with the passive hinge; (d) to evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation, which allows us to incorporate computation of

AB - We consider a model of a 24-degree-of-freedom monkey robot that is supposed to perform a brachiation locomotion, i.e. to swing from one row of a horizontal ladder to the next one using the arms. The robot hand is constructed as a planar hook so that the contact point, about which the robot swings, is a passive hinge.We identify the 10 most relevant degrees of freedom for this underactuated mechanical system and formulate a tractable search procedure consisting on the following steps: (a) to introduce a parametrized family of coordination patterns to be enforced on the dynamics with respect to a path coordinate; (b) to formulate geometric equality constraints that are necessary to achieve a periodic locomotion; (c) to generate trajectories from integrable reduced dynamics associated with the passive hinge; (d) to evaluate the energetic cost of transport. Moreover, we observe that a linear approximation of the reduced dynamics can be used for trajectory generation, which allows us to incorporate computation of

KW - Dynamic robot locomotion

KW - Underactuated robots

KW - Trajectory generation

KW - Virtual holonomic constraints

KW - Numerical optimization

U2 - DOI 10.1007/s10514-015-9497-1

DO - DOI 10.1007/s10514-015-9497-1

M3 - Article

VL - 40

SP - 849

EP - 865

JO - Autonomous Robots

JF - Autonomous Robots

SN - 0929-5593

IS - 5

ER -