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Prof. Daniel E. Koditschek

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Brachiation on a Ladder with Irregular Intervals

Proceedings of the IEEE International Conference on Robotics & Automation, Detroit, Michigan, May 1999

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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      We have previously developed a brachiation controller that allows a two degree of freedom robot to swing from handhold to handhold on a horizontal ladder with evenly space rungs as well as swing up from a suspended posture using a “target dynamics” controller. In this paper, we extend this class of algorithms to handle the much more natural problem of locomotion over irregularly spaced handholds. Numerical simulations and laboratory experiments illustrate the effectiveness of this generalization.
BibTeX entry
  author       = "Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek"
  title        = "Brachiation on a Ladder with Irregular Intervals"
  publisher    = "IEEE"
  booktitle    = "Proceedings of the IEEE International Conference on Robotics & Automation"
  volume       = "4"
  pages        = "2717 - 2722"
  year         = "1999"

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