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JRM Vol.4 No.5 pp. 422-429
doi: 10.20965/jrm.1992.p0422
(1992)

Paper:

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Motion Control of the Brachiation Type of Mobile Robot Using Cerebellar Neural Model

Fuminori Saito*, Toshio Fukuda** and Fumihito Arai**

*Graduate School at Nagoya University

** Department of Mechano-Informatics and Systems at Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya, Aichi 46401, Japan

Received:
July 31, 1992
Accepted:
August 6, 1992
Published:
October 20, 1992
Creative Commons License
Keywords:
Robotics, Multi-Degree-of-Freedom System, Simulation, Brachiation, CMAC, Swing of a Pendulum, Heuristic Method, Interpolation
Abstract

In our previous study, we confirmed the effectiveness of the heuristic method to control a brachiation robot (BMR) that we have proposed. In addition, we proposed a method using the spline interpolation to obtain suitable driving inputs for unexperienced targets derived from already experienced targets. In this paper, in order to obtain driving inputs in the case of multiple changes of control situations, we use a CMAC neural model to interpolate driving inputs obtained from experiences. Furthermore, we use trajectory feedback control and arm-direction feedback control to achieve precise laddercatching.

Cite this article as:
F. Saito, T. Fukuda, and F. Arai, “Motion Control of the Brachiation Type of Mobile Robot Using Cerebellar Neural Model,” J. Robot. Mechatron., Vol.4, No.5, pp. 422-429, 1992.
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