Swing control for two-link brathiation robot based on SMC

摘要

Brachiating is the hand over hand swinging locomotion used by various primates, especially the long armed apes. By analyzing the behavior of gibbon, which moves from branch to branch swinging its body like a pendulum, the basic principle and brachiating control of the simplified two-link gibbon-type robot is studied. Based on Lagrange equations and analyzing the postural characteristic of gibbon a simplified two-link model is derived to describe the motion of Gibbon-like Robot’s brathiation. Considering the motion control according to the target position and the posture of a gibbon, a sliding mode control (SMC) approach is presented to design the motion control system of this gibbon-type robot. The simulation based on ADAMS-MATLAB platform is presented, and the experimental results verify the feasibility of the developed controller design scheme.