Change search
ReferencesLink to record
Permanent link

Direct link
Stabilization of Brachiation Locomotion in a Monkey Robot
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2012 (English)MasteroppgaveStudent thesis
Abstract [en]

Achieving robotic locomotion is in general a difficult task. When the system of concern is underactuated, i.e. it has more degrees of freedom than the number of control inputs available, dynamic constraints are imposed, further complicating the task. This is the case for the brachiation motion observed in the lesser apes, i.e. gibbons and siamangs, as the gait involves periods of time at which the ape is suspended by one arm with limited torques available to influence the rotation about the handhold. Earlier work has been concerned with modeling of a 24-degrees-of-freedom monkey robot and the design of a brachiation gait. In this thesis we develop a toolbox to facilitate the design of a controller based on transverse linearization for this brachiation gait. The main focus is to stabilize the single-support part of the gait, i.e. the part that is subjected to dynamic constraints due to the lack of torque about the handhold, as traditional control theory is unable to stabilize the desired motion in this case. The developed toolbox is used in designing a controller that orbitally stabilizes an inverted pendulum system. As an initial step in achieving orbital stabilization of the brachiating gait, asymptotic convergence to the virtual holonomic constraints is demonstrated for a simplified model of the 24 degrees-of-freedom monkey robot.

Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2012. , 84 p.
Keyword [no]
ntnudaim:7058, MTTK teknisk kybernetikk
URN: urn:nbn:no:ntnu:diva-18556Local ID: ntnudaim:7058OAI: diva2:566073
Available from: 2012-11-08 Created: 2012-11-08

Open Access in DiVA

fulltext(1289 kB)329 downloads
File information
File name FULLTEXT01.pdfFile size 1289 kBChecksum SHA-512
Type fulltextMimetype application/pdf
cover(184 kB)26 downloads
File information
File name COVER01.pdfFile size 184 kBChecksum SHA-512
Type coverMimetype application/pdf
attachment(4808 kB)24 downloads
File information
File name ATTACHMENT01.zipFile size 4808 kBChecksum SHA-512
Type attachmentMimetype application/zip

By organisation
Department of Engineering Cybernetics

Search outside of DiVA

GoogleGoogle Scholar
Total: 329 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 114 hits
ReferencesLink to record
Permanent link

Direct link