灵长类仿生机器人悬臂飞跃运动控制研究.pdf

39 6 Vol.39, No.6 2010 12 Information and Control Dec., 2010 DOI 10.3724/SP.J.1219.2010.00794 1 2 1 1. 150001 2. 100094 TP273 A 1002-0411(2010)-06-0794-07 Ricochetal Brachiate Control of Two-link Primate-like Robot ZHANG Xiaohua1 ZHAO Yini2 CHENG Hongtai1 (1. Harbin Institute of Technology, China Harbin 150001; 2. China Academy of Space Technology, Beijing 100094; ) Abstract: Control strategy for the ricochetal brachiate control of two-link brachiation robot is presented. Based on the theory of the conservation of angular momentum, the gesture and rotation of the system are modified to fit for the flight target. Based on the analytical method of inverse kinematics, the initial state of system is achieved, and the brachiation control strategy based on hierarchical sliding mode control is presented. Simulation tests suggest that the proposed strategy achieves the desired ricochetal maneuver. Keywords: two-link brachiation robot; ricochetal brachiate maneuver; hierarchical sliding mode control; life-like brachi- ation 7-8 1 Introduction 9 - 10 1- 3