A Survey on Brachiation Robots: An Energy-Based Review. Issue 9 (8th September 2021)

• Record Type: Journal Article
• Authors: Andreuchetti, Sibyla; Oliveira, Vinícius M.; Fukuda, Toshio
• Is Part Of: Robotica. Volume 39:Issue 9(2021)
• Page Start: 1588
• Page End: 1600
• Publication Date: 2021-09-08
• Subjects: Brachiation robot -- Energy control -- Movement; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S026357472000137X
• Languages: English
• ISSNs: 0263-5747

Abstract

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.