Analytical design method of brachiation controller on the irregular ladder

M. Doi, S. Kojima, T. Matsuno, T. Fukuda, Y. Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages887-892
Number of pages6
DOIs
Publication statusPublished - Dec 22 2006
Externally publishedYes
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: Feb 20 2006Feb 22 2006

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period2/20/062/22/06

Keywords

  • Bio-inspired robot
  • Brachiation
  • Dynamics
  • Multi-locomotion robot

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Doi, M., Kojima, S., Matsuno, T., Fukuda, T., & Hasegawa, Y. (2006). Analytical design method of brachiation controller on the irregular ladder. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (pp. 887-892). [1639203] (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006). https://doi.org/10.1109/BIOROB.2006.1639203