Brachiation type of mobile robot

摘要

This paper deals with a new type of mobile robot, the brachiation robot, that makes use of the swing of a pendulum due to gravity, showing a simulation method with some results of its continuous mode during one period from the initial static condition to compute one cycle of the transfer motion. This type of robot can make use of energy stored by swing, thus can move with little energy induced. The problem in this study is to show the simulation method for the discontinuous motion, since the brachiation motion involves the switching of the swing supporting arms as a monkey does in the branch transfer motion. This paper shows a computational method of this discontinuous motion and also the energy evaluation in the brachiation motions, after introducing a new mobile mechanism. Then it becomes possible to evaluate such an oscillation effect during a period of brachiation motion, including the motion behavior and consumed energy depending on motion modes. Thus, this paper gives some insights for designing the structure and control method of a new brachiation type of robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>