Hostname: page-component-586b7cd67f-gb8f7 Total loading time: 0 Render date: 2024-11-28T22:17:53.022Z Has data issue: false hasContentIssue false
  • English
  • Français

A Survey on Brachiation Robots: An Energy-Based Review

Published online by Cambridge University Press:  08 January 2021

Sibyla Andreuchetti ,
Vinícius M. Oliveira Open the ORCID record for Vinícius M. Oliveira [Opens in a new window]  and
Toshio Fukuda
Sibyla Andreuchetti
Affiliation:
Centre for Computational Sciences (C3), Federal University of Rio Grande (FURG), Rio Grande, RS, CEP: 96203-900, Brazil E-mail: [email protected]
Vinícius M. Oliveira*
Affiliation:
Centre for Computational Sciences (C3), Federal University of Rio Grande (FURG), Rio Grande, RS, CEP: 96203-900, Brazil E-mail: [email protected]
Toshio Fukuda
Affiliation:
Faculty of Science and Engineering, Meijo University, Nagoya, Japan E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Many different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

Keywords

Brachiation robotEnergy controlMovement
Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1588 - 1600
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Spong, M. W. and Block, D. J., “The Pendubot: A Mechatronic System for Control Research and Education,” In: Proceedings of IEEE Conference on Decision and Control (1995) pp. 555–556.Google Scholar
Spong, M. W., “The swing up control problem for the Acrobot,” IEEE Control Syst. Mag., 15(1), 49–55 (1995).Google Scholar
Fukuda, T., Hosokal, H. and Kondo, Y., “Brachiation Type of Mobile Robot,” In: International Conference on Advanced Robotics. Robots in Unstructured Environments (1991) pp. 915–920.CrossRefGoogle Scholar
Eimerl, S. and DeVore, I., The Primates. Time-Life Books (1966).Google Scholar
de Luca, A., Iannitti, S., Mattone, R. and Oriolo, G., “Control Problems in Underactuated Manipulators,” In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2001) pp. 855–861.Google Scholar
De Luca, A. and Iannitti, S., “A Simple STLC Test for Mechanical Systems Underactuated by One Control,” In: Proceedings of the IEEE International Conference on Robotics & Automation (2002) pp. 1735–1740.Google Scholar
Aneke, N. P. I., Control of Underactuated Mechanical Systems (PhD Thesis, Technische Universiteit Eindhoven, 2003).Google Scholar
Fantoni, I. and Lozano, R., Non-Linear Control for Underactuated Mechanical Systems, Communications and Control Engineering (2012). https://books.google.com.br/books?id=fz7hBwAAQBAJ Google Scholar
Aoustin, Y., Formal’Skii, A. and Yuri, M.. “Pendubot combining of energy and intuitive approach to swing up, stabilization in erected pose,” Multibody Syst. Dyn. 25, 65–80 (2011).CrossRefGoogle Scholar
Fantoni, I. and Lozano, R., “The cart-pole system,” In: Nonlinear Control for Underactuated Mechanical Systems. Communications and Control Engineering (Springer, London, 2002).Google Scholar
Lin, C. Y., Shiu, S. J., Yang, Z. H. and Chen, R. S., “Design and Swing Strategy of a Bio-Inspired Robot Capable of Transverse Ricochetal Brachiation,” In: IEEE International Conference on Mechatronics and Automation (ICMA) (2017) pp. 943–948.Google Scholar
Yamakawa, Y., Ataka, Y. and Ishikawa, M., “Development of a Brachiation Robot with Hook-Shaped End Effectors and Realization of Brachiation Motion with a Simple Strategy,” In: IEEE International Conference on Robotics and Biomimetics (ROBIO) (2016) pp. 737–742.Google Scholar
Wan, D., Cheng, H., Ji, G. and Wang, S., “Non-Horizontal Ricochetal Brachiation Motion Planning and Control for Two-Link Bio-Primate Robot,” In: IEEE International Conference on Robotics and Biomimetics (ROBIO) (2015) pp. 19–24;CrossRefGoogle Scholar
Meaclem, C. V., Gutschmidt, S., Chen, X. and Parker, R., “Kinematic and Dynamic Analysis of a Brachiating Tree-to-Tree Machine,” In: IEEE International Conference on Robotics and Biomimetics (ROBIO) (2015) pp. 1311–1316.Google Scholar
Lu, Z., Aoyama, T., Sekiyama, K., Hasegawa, Y. and Fukuda, T., “Motion transfer control from walking to brachiation through vertical ladder climbing for a multi-locomotion robot,” ASME Trans. Mechatron. 1681–1693 (2014).Google Scholar
Rosa, N., Barber, A., Gregg, R. D. and Lynch, K. M., “Stable Open-Loop Brachiation on a Vertical Wall,” In: IEEE International Conference on Robotics and Automation (2012) pp. 1193–1199.Google Scholar
Swartz, S. M., “Pendular mechanics and the kinematics and energetics of brachiating locomotion,” Int. J. Primatol. 387, 100–117, (1989).Google Scholar
Usherwood, J. R., Larson, S. G. and Bertram, J. E. A., “Mechanisms of force and power production in unsteady ricochetal brachiation,” Am. J. Phys. Anthropol., 120(4), 364–372 (2003).CrossRefGoogle ScholarPubMed
Michilsens, F., D’Aot, K. and Aerts, P., “How pendulum-like are siamangs? Energy exchange during brachiation?,” Am. J. Phys. Anthropol., 145(4), 581–591 (2011).CrossRefGoogle ScholarPubMed
Bertram, J. E. A. and Chang, Y., “Mechanical energy oscillations of two brachiation gaits: Measurement and simulation,” Am. J. Phys. Anthropol., 115(4), 1096–8644 (2001).CrossRefGoogle ScholarPubMed
Channon, A. J., Crompton, R. H., Gunther, M. M., D’Aot, K. and Vereecke, E. E., “The biomechanics of leaping in gibbons,” Am. J. Phys. Anthropol., 143(3), 403–416 (2010).CrossRefGoogle ScholarPubMed
Mahindrakar, A. D. and Banavar, R. N., “Controllability Properties of a Planar 3R Underactuated Manipulator,” In: IEEE International Conference on Control Applications (2002) pp. 489–494.Google Scholar
Timm, R. W. and Lipson, H., “Periodicity Emerges from Evolved Energy-Efficient and Long-Range Brachiation,” In: Genetic and Evolutionary Computation Conference (2004).Google Scholar
Kajima, H., Doi, M., Hasegawa, Y. and Fukuda, T., “Energy Based Swing Control of a Brachiating Robot,” In: International Conference on Robotics and Automation (2005) pp. 3681–3686.Google Scholar
Kajima, H., Hasegawa, Y., Doi, M. and Fukuda, T., “Energy-Based swing-back control for continuous brachiation of a multilocomotion robot,” Int. J. Intell. Syst., 21(9), 1025–1043 (2006).CrossRefGoogle Scholar
Fukuda, T., Kojima, S., Sekiyama, K. and Hasegawa, Y., “Energy Efficient Swing-Back Control for Brachiation Robot,” In: International Symposium on MicroNanoMechanical and Human Science (2006) pp. 1–6.Google Scholar
Ichida, K., Izumi, K. and Watanabe, K., “A Switching Control Based Fuzzy Energy Region Method for Underactuated Robots,” In: Workshop on Advanced Robotics and its Social Impacts (2005) pp. 190–195.Google Scholar
Zhao, Y., Cheng, H., Zhao, D. and Zhang, X., “Energy Based Nonlinear Control of Underactuated Brachiation Robot,” In: ASME International Conference on Mechatronic and Embedded Systems and Applications (2008) pp. 516–521.Google Scholar
Lai, X., Zhang, A., She, J., Wu, M., “Motion control of underactuated three-link gymnast robot based on combination of energy and posture,” IET Control Theory Appl., 5(13), 1484–1493 (2011).CrossRefGoogle Scholar
Meghdari, A., Lavasani, S. M. H., Norouzi, M. and Mousavi, M. S. R., “Minimum control effort trajectory planning and tracking of the CEDRA brachiation robot,” Robotica, 31(7), 1119–1129 (2013).CrossRefGoogle Scholar
Gregory, J., Olivares, A. and Staffetti, E., “Energy-Optimal trajectory planning for the Pendubot and the Acrobot,” Optimal Cont. Appl. Methods, 34(3), 275–295 (2013);CrossRefGoogle Scholar
Pchelkin, S. S., Shiriaev, A. S., Mettin, U., Freidovich, L. B., Aoyama, T., Lu, Z. and Fukuda, T., “Shaping Energetically Efficient Brachiation Motion for a 24-DOF Gorilla Robot,” In: RSJ International Conference on Intelligent Robots and Systems (2011) pp. 5094–5099.Google Scholar
Pchelkin, S. S., Shiriaev, A. S., Mettin, U., Freidovich, L. B., Paramonov, L. V. and Gusev, S. V., “Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation,” Autonom. Robots, 40(6), 849–865 (2016).CrossRefGoogle Scholar
Weiguo, W., Minchang, H. and Xiadong, G., “Underactuated control of a bionic-ape robot based on the energy pumping method and big damping condition turn-back angle feedback,” Robot. Autonom. Syst., 119–131 (2018).Google Scholar
Wu, W. and Xi, B., “Motion control for 3-DOF underactuated robot to grasp objective rod,” Harbin Gongye Daxue Xuebao/J. Harbin Inst. Technol., 26–31 (2013).Google Scholar
de Oliveira, V. M. and Lages, W. F., “Comparison Between Two Actuation Schemes for Underactuated Brachiation Robots,” In: ASME International Conference on Advanced Intelligent Mechatronics, (2007) pp. 1–6.Google Scholar
de Oliveira, V. M. and Lages, W. F., “Real-Time Predictive Control of a Brachiation Robot,” In: Conference on Emerging Technologies Factory Automation (ETFA) (2009) pp. 1–6.Google Scholar
Saito, F., Fukuda, T. and Arai, F., “Swing and Locomotion Control for Two-Link Brachiation Robot,” In: International Conference on Robotics & Automation (1993) pp. 719–724.Google Scholar
de Oliveira, V. M., Estudo e Controle de Robôs Bracejadores Subatuados (2008).Google Scholar
Mario, W. G. and Andy, L. R., A Five-Link 2D Brachiating Ape Model With Life-Like Motions and No Energy Cost (2005).Google Scholar
Tarn, T., Zhang, M. and Serrani, A., “New integrability conditions for differential constraints,” System & Control Letters, 335–345 (2003).CrossRefGoogle Scholar
Olfati-Saber, R., Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehicles (PhD Thesis, Department of Electrical Engineering and Computer Science – Massachusetts Institute of Technology, 2001).Google Scholar
Shata, E., Acharya, P. and Nguyen, K., “Brachiating Robot Analysis and Design,” In: 2019 IEEE International Conference on Electro Information Technology (EIT) (2019) pp. 230–235.Google Scholar
Farzan, S., Hu, A., Davies, E. and Rogers, J., “Feedback Motion Planning and Control of Brachiating Robots Traversing Flexible Cables,” In: 2019 IEEE American Control Conference (ACC) (2019) pp. 1323–1329.Google Scholar
Farzan, S., Hu, A., Davies, E. and Rogers, J., “Modeling and Control of Brachiating Robots,” In: 2018 IEEE International Conference on Robotics and Automation (ICRA) (2018) pp. 1645–1652.Google Scholar
Davies, E., Garlow, A., Farzan, S., Rogers, J. and Hu, A., “Tarzan: Design, Prototyping, and Testing of a Wire-Borne Brachiating Robot,” In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2018) pp. 7609–7614.Google Scholar
Yu, X. and Bedillion, M., “Control for a Two-Link Planar Robot With an Actuated Tail,” In: ASME 2018 International Mechanical Engineering Congress and Exposition (American Society of Mechanical Engineers, 2018) pp. V04AT06A021–V04AT06A021.Google Scholar
Cheng, H., Rui, C. and Hao, L., “Motion Planning for Ricochetal Brachiation Locomotion of Bio-Primitive Robot,” In: 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) (2017) pp. 259–264.Google Scholar
Liu, Y. and Xin, X., “Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint,” Nonlinear Dyn., 88(3), 1749–1768 (2017).CrossRefGoogle Scholar