Motion Control of the Brachiation Type of Mobile Robot Using Cerebellar Neural Model

Abstract

In our previous study, we confirmed the effectiveness of the heuristic method to control a brachiation robot (BMR) that we have proposed. In addition, we proposed a method using the spline interpolation to obtain suitable driving inputs for unexperienced targets derived from already experienced targets. In this paper, in order to obtain driving inputs in the case of multiple changes of control situations, we use a CMAC neural model to interpolate driving inputs obtained from experiences. Furthermore, we use trajectory feedback control and arm-direction feedback control to achieve precise laddercatching.