TY - GEN
T1 - Analytical design method of brachiation controller on the irregular ladder
AU - Doi, M.
AU - Kojima, S.
AU - Matsuno, T.
AU - Fukuda, T.
AU - Hasegawa, Y.
PY - 2006/12/22
Y1 - 2006/12/22
N2 - In this paper, we present the control method to achieve the continuous brachiation on the irregular ladder. The uniform ladder problem was solved by means of symmetric property previously. However, as for the irregular ladder problem, it's impossible to build the controller based on symmetric property since the motion cannot be designed symmetrically. Therefore, it is necessary to estimate the energy difference caused by symmetry breaking. We apply Passive Dynamic Autonomous Control (PDAC), which was proposed previously, to the locomotion action and evaluate the energy difference. Swing motion is adjusted so as to satisfy the desired energy calculated from the energy difference. The validity of proposed method is tested by the experiment of Gorilla Robot III and the irregular ladder brachiation is realized.
AB - In this paper, we present the control method to achieve the continuous brachiation on the irregular ladder. The uniform ladder problem was solved by means of symmetric property previously. However, as for the irregular ladder problem, it's impossible to build the controller based on symmetric property since the motion cannot be designed symmetrically. Therefore, it is necessary to estimate the energy difference caused by symmetry breaking. We apply Passive Dynamic Autonomous Control (PDAC), which was proposed previously, to the locomotion action and evaluate the energy difference. Swing motion is adjusted so as to satisfy the desired energy calculated from the energy difference. The validity of proposed method is tested by the experiment of Gorilla Robot III and the irregular ladder brachiation is realized.
KW - Bio-inspired robot
KW - Brachiation
KW - Dynamics
KW - Multi-locomotion robot
UR - http://www.scopus.com/inward/record.url?scp=33845598714&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845598714&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639203
DO - 10.1109/BIOROB.2006.1639203
M3 - Conference contribution
AN - SCOPUS:33845598714
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 887
EP - 892
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -