Ricochetal Brachiation Motion Planning And Control For Two-link Bio-Primate Robot

Bio-Primates robot is a special kind of bio-robot system which imitates the locomotion of Primate Animals.The control of brachiation locomotion is challenging and gradually becoming a hotspot in bionic control research area.The actual brachiation locomotion of primates is very complex,but in general can be classified as two types:Continuous Contact Brachiation and Ricochetal Brachiation.This paper mainly focuses on the ricochetal brachiation.Based on the simplified Two-link Bio-Primate Robot,the path planning and motion control in the ricochetal brachiation are discussed.Furthermore,single ricochetal brachiation,continuous ricochetal brachiation and the energy variations in ricochetal brachiation are studied.A series of in-depth theoretical analyses and experiments are carried out.Ricochetal Brachiation is a sophisticated locomotion.It requires precise coordination of three different types of locomotion.The tight coupling of locomotion and underactuated characteristics are the main difficulties for realizing ricochetal brachiation.To solve the locomotion coupling problem,this paper proposes a flexible,comprehensive and adaptive ricochetal brachiation motion planning algorithm to obtain the pre-flying posture and post-flying posture by building and analyzing the segmented dynamic and kinematic models and considering the constraint condition and switching condition.Based on the Lagrangian equation and the law of conservation of angular momentum,the dynamic equations of the Two-link Bio-Primate Robot are established.The Simulink model of the system is built based on the dynamic equation.The simulation experiment verifies the effectiveness of the trajectory planning.Based on the motion control problem of the ricochetal brachiation,single ricochetal brachiation and continuous ricochetal brachiation are discussed respectively.For the single ricochetal brachiation problem,the virtual constraint based dynamic servo control strategy is adopted,while the energy based dynamic control strategy is adopted to control the continuous ricochetal brachiation.The simulation results show the effectiveness of the proposed trajectory planning and control strategy.Finally,a hardware-in-the-loop simulation experimental platform of Two-link Bio-Primate Robot was built.A genetic algorithm based parameters identification method was proposed to determine the physical parameters of the experimental platform.Under the condition of virtual constraint based dynamic servo control strategy,several experiments were carried out.The experimental results show that the trajectory planning scheme and the control strategy are reasonable and effective.