Motion control of brachiation robot by means of final-state control with error learning

Hidekazu Nishimura, Kenji Takasaki, Koji Funaki, Takayoshi Totani

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This study proposes a method for obtaining a feedforward input for motion control of a brachiation robot which has a nonlinear property in its dynamics. We deal with the brachiation robot which has three links with two actuators and no actuator at the root of the first link. We regard the brachiation robot with a nonlinear property as a time-varying system and apply the error learning method of final-state control. We especially adopt an iteration method which uses a learning coefficient less than 1 to improve the convergence property for errors of final state. By simulation taking into consideration the nonlinear property of the brachiation robot, we verify that the desired final state is achieved using the feedforward input obtained. As a result, we see that the iteration method using error learning is useful for motion control of the nonlinear system.

Original languageEnglish
Pages (from-to)182-189
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number605
Publication statusPublished - 1997
Externally publishedYes

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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