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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: sibylaavs@gmail.com
Vinícius M. Oliveira*
Affiliation:
Centre for Computational Sciences (C3), Federal University of Rio Grande (FURG), Rio Grande, RS, CEP: 96203-900, Brazil E-mail: sibylaavs@gmail.com
Toshio Fukuda
Affiliation:
Faculty of Science and Engineering, Meijo University, Nagoya, Japan E-mail: tofukuda@meijo-u.ac.jp
*
*Corresponding author. E-mail: vinicius@ieee.org
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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

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