Masahiro Doi

A study on a brachiation controller for a multi-locomotion robot — realization of smooth, continuous brachiation

In this paper, we present a control method to realize smooth continuous brachiation. The target brachiation is basically divided into two actions: a swing action and a locomotion action. In order to realize the continuous brachiation effectively and smoothly, it is necessary to start the swing action as soon as the robot grasps the front target bar at the end of the locomotion action. The collision, which occurs at the moment the robot grips the target bar, affects the pendulum motion of the robot. The action of bending the elbow joint of the swinging arm is proposed in order to solve this gripping problem. The elbow-bending action enables the robot to decrease the impact forces and use the excess mechanical energy after the end of the locomotion phase. Thus, there is no loss of energy and waste of time during the subsequent swing phase. Experimental results show that the robot can successfully achieve smooth, continuous brachiation.

Energy Based Swing Control of a Brachiating Robot

In this paper, we present a control method to realize continuous brachiation. The target brachiation is basically divided into two actions: a swing action and a locomotion action. In order to realize the continuous brachiation effectively and stably, it is necessary to control these actions according to the total energy of the system. Because brachiation has been modeled as a pendulum-like motion and the amplitude of the oscillation determines whether the robot can grasp the target bar or not. In consideration of this point, an energy based control method is proposed and introduced into the swing action controller. The purpose of this method is to control the angular velocity of the swing action in order to satisfy the desired energy evaluated by the distance of bars. Experimental results show that the robot can successfully achieve smooth, continuous brachiation.

Multi-locomotion robot-energy based motion control for dexterous brachiation

Summary form only given. This paper introduces a multi-locomotion robot which has multiple types of locomotion. The robot is developed to achieve a bipedal walk, a quadrupedal walk and a brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. In this paper we focus on brachiation mode and propose a control algorithm to realize stable and efficient continuous brachiation while the ultimate purpose of this study is to develop a unified control architecture which realize multiple types of dexterous locomotion like an animal as well as motion stability and efficiency. Swing control of brachiation according to the total energy of the system is one of key issues in order to realize the continuous brachiation, because the brachiation can be modeled as a pendulum-like motion and the amplitude of the oscillation determines whether the robot can grasp the target ladder or not. We propose an energy-based control algorithm and install it into the swing action controller. Experimental results show that the robot can successfully achieve smooth and continuous brachiation