Energy Efficient Swing-Back Control for Brachiation Robot

In this paper, we propose an energy efficient swing back control for the braciation robot. In the previous work, brachiation controller was composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite robot so as to achieve locomotion successfully. While locomotion action is to move forward by releasing a brun with arm in moving direction and gripping the target brunch with other arm. However, energy efficiency has not been considered in the previous swing-back control, hence we propose a novel method to achieve energy efficient brachiation by exacting a swing-back during locomotion. Experimental results show that the proposed method can improve the locomotion action as much an over 30% in energy consumption