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

4 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/Territory	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

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. et al.

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). doi: 10.1109/BIOROB.2006.1639203

Doi, M. ; Kojima, S. ; Matsuno, T. et al. / 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).

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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.",

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

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AU - Kojima, S.

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PY - 2006/12/22

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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.

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Analytical design method of brachiation controller on the irregular ladder

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