Study on Brachiation Controller for the Multi-locomotion Robot-Energy-based Swing-back Control-

摘要

We propose an energy-based control method in order to improve the stability of continuous brachiation. The target continuous brachiation basically consists of two actions: a swing-back action and a locomotion action. Our strategy is to control the swing-back action so that the robot can pump up the required energy to grasp a target bar depending on the bar interval and design the locomotion action based on the symmetric motion of a pendulum in order to conserve the energy. In this paper, continuous brachiation on various uniform ladders is reported. The proposed controller is implemented on Gorilla Robot 111 developed as the multi-locomotion robot. The experimental results illustrate the validity of our control strategy.