Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866908574529093632 |
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| author | Lieskovský, Juraj Akahane, Hijiri Osawa, Aoto Bušek, Jaroslav Mizuuchi, Ikuo Vyhlídal, Tomáš |
| author_facet | Lieskovský, Juraj Akahane, Hijiri Osawa, Aoto Bušek, Jaroslav Mizuuchi, Ikuo Vyhlídal, Tomáš |
| contents | A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on which it swings or rotates. The motion is imposed by repositioning the robot's center of mass, which is performed using a crank-slide mechanism. Based on a non-linear model, an optimal control strategy is proposed, for repositioning the center of mass in a bang-bang manner. Consequently, utilizing the concept of input-output linearization, a continuous control strategy is proposed that takes into account the limited torque of the crank-slide mechanism and its geometry. An increased attention is paid to energy accumulation towards the subsequent jump stage of the brachiation. These two strategies are validated and compared in simulations. The continuous control strategy is then also implemented within a low-cost STM32-based control system, and both the swing and rotation stages of the brachiation motion are experimentally validated. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2510_02946 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases Lieskovský, Juraj Akahane, Hijiri Osawa, Aoto Bušek, Jaroslav Mizuuchi, Ikuo Vyhlídal, Tomáš Robotics Systems and Control 93D25 I.6.5; F.2.1 A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on which it swings or rotates. The motion is imposed by repositioning the robot's center of mass, which is performed using a crank-slide mechanism. Based on a non-linear model, an optimal control strategy is proposed, for repositioning the center of mass in a bang-bang manner. Consequently, utilizing the concept of input-output linearization, a continuous control strategy is proposed that takes into account the limited torque of the crank-slide mechanism and its geometry. An increased attention is paid to energy accumulation towards the subsequent jump stage of the brachiation. These two strategies are validated and compared in simulations. The continuous control strategy is then also implemented within a low-cost STM32-based control system, and both the swing and rotation stages of the brachiation motion are experimentally validated. |
| title | Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases |
| topic | Robotics Systems and Control 93D25 I.6.5; F.2.1 |
| url | https://arxiv.org/abs/2510.02946 |