Control of a brachiating robot for inspection of aerial power lines

Abstract

The present work addresses the problem of realtime predictive control of a brachiating robot. The robot is constrained (underactuated, limited torque) and a multivariable system, which implies a very difficult problem due to the large amount of on-line computation that is required. Previous works demonstrated that it is not possible to consider the nonlinear model-based MPC under real-time constraints. To overcome this problem we present a linearized model-based MPC, which is able to be handled under real-time constraints.