Abstract
This section introduces brachiation robots that are monkey-type robots developed previously in our laboratory as one of bio-inspired robots. In pioneering research, the dynamics of locomotion were analyzed and locomotion types proposed using a six-link brachiation robot [64]. Following this research, the second one is a two-link brachiation robot “Brachiator II” shown in Fig. 3.1. This robot has one actuator at the elbow connecting two links, each of which has a gripper. Because the gripper cannot impose torque on the handhold directly, this is an underactuated mechanical system. We developed a two-link brachiation robot and proposed a heuristic method to find feasible motions [67, 244, 245].
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Fukuda, T., Hasegawa, Y., Sekiyama, K., Aoyama, T. (2012). Hardware of Multi-Locomotion Robot. In: Multi-Locomotion Robotic Systems. Springer Tracts in Advanced Robotics, vol 81. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30135-3_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-30135-3_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-30134-6
Online ISBN: 978-3-642-30135-3
eBook Packages: EngineeringEngineering (R0)