Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations
Bio-inspired transverse brachiation robots mimic the movement of human climbers as they traverse along ledges on a vertical wall. The constraints on the locomotion of these robots differ considerably from those of conventional brachiation robots due primarily to the need for robust hand-eye coordina...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/11/4031 |
| _version_ | 1827664013558808576 |
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| author | Chi-Ying Lin Yong-Jie Tian |
| author_facet | Chi-Ying Lin Yong-Jie Tian |
| author_sort | Chi-Ying Lin |
| collection | DOAJ |
| description | Bio-inspired transverse brachiation robots mimic the movement of human climbers as they traverse along ledges on a vertical wall. The constraints on the locomotion of these robots differ considerably from those of conventional brachiation robots due primarily to the need for robust hand-eye coordination. This paper describes the development of a motion control strategy for a brachiation robot navigating between wall ledges positioned on a level plane or at different elevations. We based our robot on a four-link arm-body-tail system performing a four-phase movement, including a release phase, body reversal phase, swing-up phase, and grasping phase. We designed a gripper that uses passive wrist joint motion to grasp the ledge during the tail swing. We also developed a dynamic model by which to coordinate the swing-up movement, define the phase switching conditions, and time the grasping action of the grippers. In experiments, the robot proved highly effective in traversing between wall ledges of the same or different elevations. |
| first_indexed | 2024-03-10T00:54:14Z |
| format | Article |
| id | doaj.art-d229d2dbf6c54da78b9141fa8c8600ae |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T00:54:14Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-d229d2dbf6c54da78b9141fa8c8600ae2023-11-23T14:47:37ZengMDPI AGSensors1424-82202022-05-012211403110.3390/s22114031Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different ElevationsChi-Ying Lin0Yong-Jie Tian1Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 106, TaiwanBio-inspired transverse brachiation robots mimic the movement of human climbers as they traverse along ledges on a vertical wall. The constraints on the locomotion of these robots differ considerably from those of conventional brachiation robots due primarily to the need for robust hand-eye coordination. This paper describes the development of a motion control strategy for a brachiation robot navigating between wall ledges positioned on a level plane or at different elevations. We based our robot on a four-link arm-body-tail system performing a four-phase movement, including a release phase, body reversal phase, swing-up phase, and grasping phase. We designed a gripper that uses passive wrist joint motion to grasp the ledge during the tail swing. We also developed a dynamic model by which to coordinate the swing-up movement, define the phase switching conditions, and time the grasping action of the grippers. In experiments, the robot proved highly effective in traversing between wall ledges of the same or different elevations.https://www.mdpi.com/1424-8220/22/11/4031transverse ledge brachiationsupport constraintgripper designlocomotion controlgripper command prediction |
| spellingShingle | Chi-Ying Lin Yong-Jie Tian Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations Sensors transverse ledge brachiation support constraint gripper design locomotion control gripper command prediction |
| title | Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations |
| title_full | Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations |
| title_fullStr | Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations |
| title_full_unstemmed | Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations |
| title_short | Design of Transverse Brachiation Robot and Motion Control System for Locomotion between Ledges at Different Elevations |
| title_sort | design of transverse brachiation robot and motion control system for locomotion between ledges at different elevations |
| topic | transverse ledge brachiation support constraint gripper design locomotion control gripper command prediction |
| url | https://www.mdpi.com/1424-8220/22/11/4031 |
| work_keys_str_mv | AT chiyinglin designoftransversebrachiationrobotandmotioncontrolsystemforlocomotionbetweenledgesatdifferentelevations AT yongjietian designoftransversebrachiationrobotandmotioncontrolsystemforlocomotionbetweenledgesatdifferentelevations |