Research On Continuous Locomotion Control For Bionic Dual Arm-hands Robot Grasping Bars

Primates bio-robot is a class of robot to imitate the movement of a primate based on bionics principle. The purpose of research for primates bio-robot is to realize motion bionics through intelligent mechanical and control measures. Brachiation robot dynamically moves from branch to branch like a gibbon to realize locomotion under a non-continuous media environment. For the problem of brachiation robot can not reliably grasp a target bar, this paper studies the control strategy and methods of reliably grasping bars for the bionic-ape dual arm-hands robot.We understand and analysis the brachition of human and gibbons from the bionic movement principle. At the same time we introduce the bionic-ape dual arm-hands robot and improve the design of the installation between the friction wheel mechanism and the gripper. According to the characteristics of gibbons swinging motion, we divide the motion process of grasping bars continuously locomotion into swing-up phase, grasp phase and continuous locomotion phase. We study the control strategy for the bionic-ape dual arm-hands robot based on the analysis of kinematics and dynamics.This paper presents a control strategy based on energy pumped and turn-back feedback control under big damping nonholonomic constraints. Because the underactuated system can not realize the feedback linearization completely.We utilize the partial feedback linearization theory to deduce the control law of swing-up phase. In order to achieve the goal of activating the energy-pumping independently and grasping bars reliably, we divide the swing-up phase into swing up self-stating phase, energy rising phase and transition phase. We design swing up self-stating controller to active the energy-pumping. We deduce the control law of energy rising phase based on Lyapunov stability theory and analysis the convergence and singularity of system. Besides, we forecasting the energy of the robot under a specific configuration in energy rising phase to ensure the robot can keep the transitional configuration into the graspable area. We adopt the control method of position and orientation to realize the end-grip grasping bars in a desired position and orientation in grasp phase. In continuous locomotion phase, we employ the three active coordinated motions to adjust the posture of the robot. Under big damped condition, we plan the trajectory of gripper release to achieve open and decentralized actions for the end gripper. The robot configuration is adjusted to a linear configuration to make the robot realize a smooth transition to the energy pumping-up phase. In addition, we utilize the partial feedback linearization theory to deduce the control law of configuration adjustment.Finally, we establish combined simulation control systems of MATLAB-ADAMS to execute separately the motion control of grasping bars and continuous locomotion for the bionic-ape dual arm-hands robot. The simulation results show that the proposed control strategy has certain universality and the advantage of reliably grasping bars. It will provide a new basis for the study of motion in a non-continuous media for the brachiation robot.