Robust control of a brachiating robot

Nguyen, KD; Liu, D

Robust control of a brachiating robot

Nguyen, KD Liu, D

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2017, 2017-September pp. 6555 - 6560
Issue Date:: 2017-12-13

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Field	Value	Language
dc.contributor.author	Nguyen, KD	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2017-12-13	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2017, 2017-September pp. 6555 - 6560	en_US
dc.identifier.isbn	9781538626825	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/118782
dc.description.abstract	© 2017 IEEE. This paper investigates the robust control of an underactuated brachiating robot. Inspired by the pendulumlike movements in gibbons' arboreal locomotion, the controllers are designed to synchronize the brachiator with a virtual oscillator. Two schemes are proposed: a model-dependent feedback linearization scheme and a sliding-mode scheme that is independent of the system model. The simulation results illustrate that the proposed schemes are robust to the arbitrary initial configurations of the brachiator and the limitation in the motor torque at the elbow joint. Furthermore, both controllers enable the underactuated robot to brachiate along a structural member with an upward slope.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2017.8206566	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Robust control of a brachiating robot	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2017-September	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2017-September	en_US

Abstract:

© 2017 IEEE. This paper investigates the robust control of an underactuated brachiating robot. Inspired by the pendulumlike movements in gibbons' arboreal locomotion, the controllers are designed to synchronize the brachiator with a virtual oscillator. Two schemes are proposed: a model-dependent feedback linearization scheme and a sliding-mode scheme that is independent of the system model. The simulation results illustrate that the proposed schemes are robust to the arbitrary initial configurations of the brachiator and the limitation in the motor torque at the elbow joint. Furthermore, both controllers enable the underactuated robot to brachiate along a structural member with an upward slope.

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http://hdl.handle.net/10453/118782