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Experimental Implementation of a “Target Dymamics” Controller on a Two-link Brachiating Robot.

Proceedings of the IEEE International Conference on Robotics & Automation, May 1998

Jun Nakanishi*, Toshio Fukuda†, and Daniel E. Koditschek
*:Dept. of Micro System Engineering, Nagoya University. Nagoya. Aichi, Japan
†:Center for Cooperative Research in Advanced Science and Technology. Nagoya University, Nagoya, Aichi, Japan
‡: Department for Electrical Engineering and Computer Science, University of Michigan, Michigan, USA
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Abstract
      We report on our recent empirical success in the study of a two-link brachiating robot. The “target dynamics” controller developed in our previous work (1997) is implemented on a physical system in our laboratory. The swing locomotion and swing-up behavior of the robot as well as continuous locomotion have been successfully attained. The experimental results illustrate the effectiveness of our control strategy.
BibTeX entry
@inproceedings{Nakanishi-ICRA-1998
  author       = "Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek"
  title        = "Experimental Implementation of a "Target Dymamics" Controller on a
Two-link Brachiating Robot."
  publisher    = "IEEE"
  booktitle    = "Proceedings of the IEEE International Conference on Robotics & Automation"
  volume       = "1"
  pages        = "787-792"
  year         = "1998"
}
Comments
Copyright 1998 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1998, pages 787–792.
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

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