Modeling and Control of Multi-Locomotion Robots

Summary form only given. We have developed the multilocomotion robots (MLR), which aims at the realization of the different locomotion capabilities, depending on the environment and situations of the robots. The MLR has the different locomotion modes, such as biped, quadruped and brachiation locomotions. In the biped locomotion, the robot has the control scheme of passive dynamic autonomous control (PDAC), so that robot can walk passively rather than the actively. As a result, robot can save more energy and walk longer. Quadruped locomotion has some locomotion modes, sue has crawl, pace and trot, chosen by the tradeoff of locomotion speed and consumed energy. Brachiation locomotion is also unique moving by branching from one to another. MLR´s goal is to integrate all locomotion modes by accommodating the different environment and robot situations