Stable open-loop brachiation on a vertical wall

Nelson Rosa*, Adam Barber, Robert D. Gregg, Kevin M Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

This paper presents a hybrid mechanical model for the Gibbot, a robot that dynamically locomotes along a vertical wall in a manner analogous to gibbons swinging between branches in the forest canopy. We focus on one particular gait, continuous-contact brachiation, which always has one handhold in contact with the wall. We use zero-cost, unstable solutions corresponding to horizontal brachiation, originally found by Gomes and Ruina, as templates to generate open-loop stable gaits in arbitrary directions. The first case considered is passive brachiation down a shallow slope, roughly corresponding to upside-down locomotion of the well-studied compass-gait biped. We then consider underactuated brachiation with a constant forcing term at the elbow to produce open-loop stable descending and ascending gaits.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1193-1199
Number of pages7
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Stable open-loop brachiation on a vertical wall'. Together they form a unique fingerprint.

  • Cite this

    Rosa, N., Barber, A., Gregg, R. D., & Lynch, K. M. (2012). Stable open-loop brachiation on a vertical wall. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 1193-1199). [6225293] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225293