Motion coordination of behavior-based controller for brachiation robot

Complex behavior is hardly obtained using any unsupervised leaning methods because of enormous searching space. In order to reduce the searching space, a hierarchical behavior structure is effective. In this paper, we proposed the hierarchical behavior controller which consists of two kinds of modules: behavior coordinator and behavior controller. The hierarchical behavior controller is applied to the control problem of a seven-link brachiation robot which moves dynamically from branch to branch like gibbon swinging its body. The adaptive algorithm for position changes of the target branch is proposed to move successfully at various branch intervals and heights