Study on brachiation controller - adjustment method of strength and timing parameters

In this paper, we firstly introduce new concept of multi-locomotion robot inspired by an animal and a developed robot "Gorilla Robot II", which can select a better locomotion from biped locomotion, quadruped locomotion and brachiation, according to an environment. We consider "Brachiation" which is one of the most dynamic motions in animal motions. Then we propose an enhanced control method for the robot in order to achieve a brachiation motion, adjusting the timing of local behaviors. We show that the developed robot successfully perform two kinds of brachiation motions.