Multi-Locomotion Control of Biped Locomotion and Brachiation Robot

Abstract

This paper first introduces a multi-locomotion robot with high mobility and then proposes Passive Dynamic Autonomous Control (PDAC) for the comprehensive control method of multiple types of locomotion. PDAC is the method to take advantage of the robot inherent dynamics and to realize natural dynamic motion. We apply PDAC to a biped walk control. On the assumption that the sagittal and lateral motion can be separated and controlled individually, each motion is designed based on the given desired step-length and period. In order to stabilize walking, the landing position control according to the status is designed. In addition, a coupling method between these motions, which makes the period of each motion identical, is proposed. Finally, we show that the multi-locomotion robot realizes the 3-dimensional dynamic walking using the PDAC control.