Analytical design method of brachiation controller on the irregular ladder

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

doi:10.1109/BIOROB.2006.1639203

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages	887-892
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2006.1639203
Publication status	Published - Dec 22 2006
Externally published	Yes
Event	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: Feb 20 2006 → Feb 22 2006

Publication series

Name	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume	2006

Other

Other	1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country	Italy
City	Pisa
Period	2/20/06 → 2/22/06

Keywords

Bio-inspired robot
Brachiation
Dynamics
Multi-locomotion robot

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1109/BIOROB.2006.1639203

Fingerprint Dive into the research topics of 'Analytical design method of brachiation controller on the irregular ladder'. Together they form a unique fingerprint.

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

Analytical design method of brachiation controller on the irregular ladder. / Doi, M.; Kojima, S.; Matsuno, T.; Fukuda, T.; Hasegawa, Y.

Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 887-892 1639203 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 1639203, Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, vol. 2006, pp. 887-892, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 2/20/06. https://doi.org/10.1109/BIOROB.2006.1639203

Doi M, Kojima S, Matsuno T, Fukuda T, Hasegawa Y. 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. 2006. p. 887-892. 1639203. (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006). https://doi.org/10.1109/BIOROB.2006.1639203

Doi, M. ; Kojima, S. ; Matsuno, T. ; Fukuda, T. ; Hasegawa, Y. / Analytical design method of brachiation controller on the irregular ladder. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. pp. 887-892 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006).

@inproceedings{b4da3d3fef3641dd8c9b6f5be814164d,

title = "Analytical design method of brachiation controller on the irregular ladder",

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.",

keywords = "Bio-inspired robot, Brachiation, Dynamics, Multi-locomotion robot",

author = "M. Doi and S. Kojima and T. Matsuno and T. Fukuda and Y. Hasegawa",

year = "2006",

month = dec,

day = "22",

doi = "10.1109/BIOROB.2006.1639203",

language = "English",

isbn = "1424400406",

series = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

pages = "887--892",

booktitle = "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006",

note = "1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 ; Conference date: 20-02-2006 Through 22-02-2006",

}

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 -

Analytical design method of brachiation controller on the irregular ladder

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this