中文摘要：

研究了双臂式灵长类仿生机器人的悬臂飞跃运动仿生控制问题.基于角动量守恒原理,针对机器人进行悬臂飞跃时目标点的位置,规划机器人的空中姿态及身体旋转.基于逆运动学分析方法,获得起飞时刻系统位姿,提出了基于分层滑模控制的悬摆姿态控制策略.仿真实验表明所述控制策略可以实现双臂悬摆机器人的悬臂飞跃运动控制.

英文摘要：

Control strategy for the ricochetal brachiate control of two-link brachiation robot is presented.Based on the theory of the conservation of angular momentum,the gesture and rotation of the system are modified to fit for the flight target.Based on the analytical method of inverse kinematics,the initial state of system is achieved,and the brachiation control strategy based on hierarchical sliding mode control is presented.Simulation tests suggest that the proposed strategy achieves the desired ricochetal maneuver.