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《Journal of Northeastern University(Natural Science)》 2017-02
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Ricochetal Brachiation Motion Planning and Control for Two-Link Bio-primate Robot

CHENG Hong-tai;WAN Deng-ke;HAO Li-na;School of Mechanical Engineering & Automation, Northeastern University;  
The tight coupling of locomotion and underactuated characteristics are the main difficulties for realizing ricochetal brachiation of a bio-primate robot. For the locomotion coupling,the segmented dynamic/kinematic models were built and analyzed. Then,a flexible,comprehensive and adaptive ricochetal brachiation motion planning algorithm was proposed in consideration of the constraint condition and switching condition. Therefore,pre-and post-flying postures were obtained. As to the underactuated characteristics,virtual-constraint-based trajectory planning and tracking control methods were adopted to ensure that the system could arrive at the pre-flying posture accurately. Finally,a ricochetal brachiation simulation model was built and the results show the effectiveness of the proposed trajectory planning and control strategy.
【Fund】: 国家自然科学基金资助项目(61503067);; 辽宁省自然科学基金资助项目(20141016);; 中央高校基本科研业务费专项资金资助项目(N150308001)
【CateGory Index】: TP242
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