Abstract Transverse ricochetal brachiation is a sophisticated locomotion style that mimics athletes swinging their bodies with their hands on a ledge in order to propel themselves for a leap to a target ledge. This paper describes the development of a transverse ricochetal brachiation robot (TRBR) and outlines motion control strategies for active flight body posture compensation. The crucial design parameters were obtained by formulating an optimization problem with the goal of maximizing flight distance. Shoulder joints with switchable stiffness were used to enable resonance excitation via the swinging of a robot tail during the swing phase, while enabling tight arm-and-body engagement during the flight phase. Novel electric grippers were designed to provide the required holding forces as well as quick-release functionality to ensure that the kinetic energy accumulated during the swing phase could be transferred smoothly to the flight phase. The reference trajectory of the robot tail was obtained using an optimization procedure based on a dynamic model of the swing phase. We also adopted a dynamic model for the flight phase to elucidate the effects of midair body rotation with the aim of developing body posture compensation methods. Simulation and experimental results demonstrate the efficacy of the proposed body posture compensation method based on a successive loop closure design in improving flight body posture during transverse ricochetal brachiation. The integration of arm swing motion with tail compensation also proved highly effective in enhancing hang time and travel distance.

中文翻译：

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TRBR：横向弹跳机器人的飞行体姿态补偿

摘要 横向弹跳臂是一种复杂的运动方式，它模仿运动员用手在壁架上摆动身体以推动自己跳跃到目标壁架。本文描述了横向弹跳臂机器人 (TRBR) 的发展，并概述了主动飞行体姿态补偿的运动控制策略。关键的设计参数是通过制定以最大化飞行距离为目标的优化问题而获得的。具有可切换刚度的肩关节用于在摆动阶段通过机器人尾巴的摆动实现共振激发，同时在飞行阶段实现手臂和身体的紧密接合。新型电动抓手旨在提供所需的夹持力以及快速释放功能，以确保摆动阶段积累的动能可以顺利转移到飞行阶段。机器人尾部的参考轨迹是使用基于摆动相动态模型的优化程序获得的。我们还采用了飞行阶段的动态模型来阐明空中身体旋转的影响，目的是开发身体姿势补偿方法。仿真和实验结果证明了所提出的基于连续闭环设计的身体姿态补偿方法在改善横向弹跳臂摆动过程中飞行身体姿态的有效性。