The Experts below are selected from a list of 786 Experts worldwide ranked by ideXlab platform

Toshio Fukuda - One of the best experts on this subject based on the ideXlab platform.

  • Motion Transfer Control From Walking to Brachiation Through Vertical Ladder Climbing for a Multi-Locomotion Robot
    IEEE ASME Transactions on Mechatronics, 2014
    Co-Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda
    Abstract:

    This paper describes a motion control approach to transfer locomotion types of a multi-locomotion robot (MLR) from walking to Brachiation for maneuver performance. Brachiation is a form of arboreal locomotion in which a primate swings its body like a pendulum to transfer from a tree limb to another using its arms. In addition to multiple types of locomotion, such as biped walking, quadruped walking, and climbing a vertical ladder, the MLR performs Brachiation on the horizontal ladder. The vertical ladder is used as a tool for the MLR to approach a horizontal ladder from walking on a floor. Two transition motions to transfer from waking to climbing and from climbing to Brachiation are designed based on the changed environmental boundaries. In addition, a motion transfer control algorithm with grasp failure recovery is proposed by considering the reaction force and torques of robot joints. Parameters about the body positions and joint torques in the motion transfer control algorithm are set to tolerate relative position errors between the robot and its environments such as the rungs of the ladder. The proposed control method for the designed motions with error correction is experimentally verified.

  • Transition Motion from Ladder Climbing to Brachiation with Optimal Load-Allocation Control
    Advanced Robotics, 2012
    Co-Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda
    Abstract:

    Abstract This paper describes the transition motion from ladder climbing to Brachiation for a multi-locomotion robot (MLR). The MLR has versatile modes of locomotion, such as biped walking, quadruped walking, Brachiation and ladder climbing. The transition is a challenging motion, because the environmental boundaries change and the robot has to switch the form of its locomotion depending on its surroundings, situations and purposes. The robot supports itself with three end-effectors that maintain its stability, while one hand transfers from a rung on the vertical ladder to a new rung behind the robot for Brachiation. A closed kinematic chain is formed by the robot links and the ladder. In this case, if the number of position-controlled active joints is greater than the number of the chain’s degrees of freedom, an internal stress appears because of unavoidable position errors. The huge internal stress may lead some motors to become overloaded. Since the safety of each motor is very important for a serial-l...

  • Hardware of Multi-Locomotion Robot
    Springer Tracts in Advanced Robotics, 2012
    Co-Authors: Toshio Fukuda, Yasuhisa Hasegawa, Kosuke Sekiyama, Tadayoshi Aoyama
    Abstract:

    This section introduces Brachiation robots that are monkey-type robots developed previously in our laboratory as one of bio-inspired robots. In pioneering research, the dynamics of locomotion were analyzed and locomotion types proposed using a six-link Brachiation robot [64]. Following this research, the second one is a two-link Brachiation robot “Brachiator II” shown in Fig. 3.1. This robot has one actuator at the elbow connecting two links, each of which has a gripper. Because the gripper cannot impose torque on the handhold directly, this is an underactuated mechanical system. We developed a two-link Brachiation robot and proposed a heuristic method to find feasible motions [67, 244, 245].

  • Dynamic transition motion from ladder climbing to Brachiation for a multi-locomotion robot
    2010 International Symposium on Micro-NanoMechatronics and Human Science, 2010
    Co-Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, K. Sekiyama, Toshio Fukuda
    Abstract:

    This paper describes a dynamic transition motion from ladder climbing to Brachiation for a multi-locomotion robot (MLR). In our previous works, the static transition motion from ladder climbing to barchiation has been developed. However, the motion is based on stable static model. It is difficult to realize the flexible and fast movement. To solve these problems, a new dynamic transition motion is proposed to simplify the action steps and increase the motion speed. The gravity is used to adjust the speed of turning body motion when the left hand and left foot are considered, and a pendulum model is used in the motion planning for the MLR to catch the second horizontal bar. The motion step is simplified and the motion speed is increased significantly by using the proposed method. The simulation result is realized by using the open dynamic engine (ODE) software.

  • PDAC-Based Brachiating Control of the Multi-Locomotion Robot
    Studies in Computational Intelligence, 2009
    Co-Authors: Toshio Fukuda, Yasuhisa Hasegawa, Tadayoshi Aoyama, Kosuke Sekiyama, S. Kojima
    Abstract:

    This paper introduces the multi-locomotion robot which has multiple types of locomotion at first. The robot has been developed to achieve a bipedal walk, a quadrupedal walk, and a Brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. When we consider a transition motion connecting one locomotion form to another, two designed controllers corresponding to each locomotion type are not enough. A new control algorithm that covering control properties of two locomotion controllers should be developed, because the intermediate motion cannot be realized by fusing control outputs from two controllers. Previously, based on this notion, we have proposed a novel method named Passive Dynamic Autonomous Control (PDAC) that realized not only a bipedal walk but also a quadruped walk. In this paper, the PDAC is also applied to a Brachiation motion on the irregular ladder; then the proposed controller is validated by the experiment.

Yasuhisa Hasegawa - One of the best experts on this subject based on the ideXlab platform.

  • Motion Transfer Control From Walking to Brachiation Through Vertical Ladder Climbing for a Multi-Locomotion Robot
    IEEE ASME Transactions on Mechatronics, 2014
    Co-Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda
    Abstract:

    This paper describes a motion control approach to transfer locomotion types of a multi-locomotion robot (MLR) from walking to Brachiation for maneuver performance. Brachiation is a form of arboreal locomotion in which a primate swings its body like a pendulum to transfer from a tree limb to another using its arms. In addition to multiple types of locomotion, such as biped walking, quadruped walking, and climbing a vertical ladder, the MLR performs Brachiation on the horizontal ladder. The vertical ladder is used as a tool for the MLR to approach a horizontal ladder from walking on a floor. Two transition motions to transfer from waking to climbing and from climbing to Brachiation are designed based on the changed environmental boundaries. In addition, a motion transfer control algorithm with grasp failure recovery is proposed by considering the reaction force and torques of robot joints. Parameters about the body positions and joint torques in the motion transfer control algorithm are set to tolerate relative position errors between the robot and its environments such as the rungs of the ladder. The proposed control method for the designed motions with error correction is experimentally verified.

  • Transition Motion from Ladder Climbing to Brachiation with Optimal Load-Allocation Control
    Advanced Robotics, 2012
    Co-Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda
    Abstract:

    Abstract This paper describes the transition motion from ladder climbing to Brachiation for a multi-locomotion robot (MLR). The MLR has versatile modes of locomotion, such as biped walking, quadruped walking, Brachiation and ladder climbing. The transition is a challenging motion, because the environmental boundaries change and the robot has to switch the form of its locomotion depending on its surroundings, situations and purposes. The robot supports itself with three end-effectors that maintain its stability, while one hand transfers from a rung on the vertical ladder to a new rung behind the robot for Brachiation. A closed kinematic chain is formed by the robot links and the ladder. In this case, if the number of position-controlled active joints is greater than the number of the chain’s degrees of freedom, an internal stress appears because of unavoidable position errors. The huge internal stress may lead some motors to become overloaded. Since the safety of each motor is very important for a serial-l...

  • Hardware of Multi-Locomotion Robot
    Springer Tracts in Advanced Robotics, 2012
    Co-Authors: Toshio Fukuda, Yasuhisa Hasegawa, Kosuke Sekiyama, Tadayoshi Aoyama
    Abstract:

    This section introduces Brachiation robots that are monkey-type robots developed previously in our laboratory as one of bio-inspired robots. In pioneering research, the dynamics of locomotion were analyzed and locomotion types proposed using a six-link Brachiation robot [64]. Following this research, the second one is a two-link Brachiation robot “Brachiator II” shown in Fig. 3.1. This robot has one actuator at the elbow connecting two links, each of which has a gripper. Because the gripper cannot impose torque on the handhold directly, this is an underactuated mechanical system. We developed a two-link Brachiation robot and proposed a heuristic method to find feasible motions [67, 244, 245].

  • Dynamic transition motion from ladder climbing to Brachiation for a multi-locomotion robot
    2010 International Symposium on Micro-NanoMechatronics and Human Science, 2010
    Co-Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, K. Sekiyama, Toshio Fukuda
    Abstract:

    This paper describes a dynamic transition motion from ladder climbing to Brachiation for a multi-locomotion robot (MLR). In our previous works, the static transition motion from ladder climbing to barchiation has been developed. However, the motion is based on stable static model. It is difficult to realize the flexible and fast movement. To solve these problems, a new dynamic transition motion is proposed to simplify the action steps and increase the motion speed. The gravity is used to adjust the speed of turning body motion when the left hand and left foot are considered, and a pendulum model is used in the motion planning for the MLR to catch the second horizontal bar. The motion step is simplified and the motion speed is increased significantly by using the proposed method. The simulation result is realized by using the open dynamic engine (ODE) software.

  • PDAC-Based Brachiating Control of the Multi-Locomotion Robot
    Studies in Computational Intelligence, 2009
    Co-Authors: Toshio Fukuda, Yasuhisa Hasegawa, Tadayoshi Aoyama, Kosuke Sekiyama, S. Kojima
    Abstract:

    This paper introduces the multi-locomotion robot which has multiple types of locomotion at first. The robot has been developed to achieve a bipedal walk, a quadrupedal walk, and a Brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. When we consider a transition motion connecting one locomotion form to another, two designed controllers corresponding to each locomotion type are not enough. A new control algorithm that covering control properties of two locomotion controllers should be developed, because the intermediate motion cannot be realized by fusing control outputs from two controllers. Previously, based on this notion, we have proposed a novel method named Passive Dynamic Autonomous Control (PDAC) that realized not only a bipedal walk but also a quadruped walk. In this paper, the PDAC is also applied to a Brachiation motion on the irregular ladder; then the proposed controller is validated by the experiment.

Hideki Kajima - One of the best experts on this subject based on the ideXlab platform.

  • energy based swing back control for continuous Brachiation of a multilocomotion robot
    International Journal of Intelligent Systems, 2006
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, M. Doi, Toshio Fukuda
    Abstract:

    We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous Brachiation. The target continuous Brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous Brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named "Gorilla Robot III" whose dimensions are mimicking those of a gorilla. Continuous Brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm.

  • energy based swing back control for continuous Brachiation of a multilocomotion robot research articles
    International Journal of Intelligent Systems, 2006
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, M. Doi, Toshio Fukuda
    Abstract:

    We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous Brachiation. The target continuous Brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous Brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named “Gorilla Robot III” whose dimensions are mimicking those of a gorilla. Continuous Brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm. © 2006 Wiley Periodicals, Inc. Int J Int Syst 21: 1025–1043, 2006.

  • Energy‐based swing‐back control for continuous Brachiation of a multilocomotion robot
    International Journal of Intelligent Systems, 2006
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, M. Doi, Toshio Fukuda
    Abstract:

    We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous Brachiation. The target continuous Brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous Brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named "Gorilla Robot III" whose dimensions are mimicking those of a gorilla. Continuous Brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm.

  • a study on a Brachiation controller for a multi locomotion robot realization of smooth continuous Brachiation
    Advanced Robotics, 2004
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, Toshio Fukuda
    Abstract:

    In this paper, we present a control method to realize smooth continuous Brachiation. The target Brachiation is basically divided into two actions: a swing action and a locomotion action. In order to realize the continuous Brachiation effectively and smoothly, it is necessary to start the swing action as soon as the robot grasps the front target bar at the end of the locomotion action. The collision, which occurs at the moment the robot grips the target bar, affects the pendulum motion of the robot. The action of bending the elbow joint of the swinging arm is proposed in order to solve this gripping problem. The elbow-bending action enables the robot to decrease the impact forces and use the excess mechanical energy after the end of the locomotion phase. Thus, there is no loss of energy and waste of time during the subsequent swing phase. Experimental results show that the robot can successfully achieve smooth, continuous Brachiation.

  • Intelligent robots as artificial living creatures
    Artificial Life and Robotics, 2004
    Co-Authors: Toshio Fukuda, Hideki Kajima, Yasuhisa Hasegawa
    Abstract:

    This article introduces a multi locomotion robot, MLR III, which has multiple locomotion types, i.e., not only brachiating but also walking. Conventionally we have studied dexterous locomotion robots and their controller design. One is a simplified two-link robot, Brachiator II. This is an example of an underactuated system in which a robot mechanism has more degrees of freedom than actuators. The desired motions are encoded as the output of a target dynamical system inspired by the pendulum-link motion of an ape’s Brachiation. The other is a monkey-type robot, Brachiator III. Brachiator III achieves a dexterous motion using redundant degrees of freedom. The motion is generated in an empirical learning process on an intelligent structure, on which the learning algorithm coordinates some primitive motions to generate the desired motion. MLR III is an extended locomotion robot that has multiple types of locomotions: Brachiation, bipedal walking, and quadrupedal walking, similar to a monkey or gorilla. This article introduces the mechanism and controller design for brachiating motion.

Kevin M. Lynch - One of the best experts on this subject based on the ideXlab platform.

  • stable open loop Brachiation on a vertical wall
    International Conference on Robotics and Automation, 2012
    Co-Authors: Nelson Rosa, Adam Barber, Robert D. Gregg, Kevin M. Lynch
    Abstract:

    This paper presents a hybrid mechanical model for the Gibbot, a robot that dynamically locomotes along a vertical wall in a manner analogous to gibbons swinging between branches in the forest canopy. We focus on one particular gait, continuous-contact Brachiation, which always has one handhold in contact with the wall. We use zero-cost, unstable solutions corresponding to horizontal Brachiation, originally found by Gomes and Ruina, as templates to generate open-loop stable gaits in arbitrary directions. The first case considered is passive Brachiation down a shallow slope, roughly corresponding to upside-down locomotion of the well-studied compass-gait biped. We then consider underactuated Brachiation with a constant forcing term at the elbow to produce open-loop stable descending and ascending gaits.

  • ICRA - Stable open-loop Brachiation on a vertical wall
    2012 IEEE International Conference on Robotics and Automation, 2012
    Co-Authors: Nelson Rosa, Adam Barber, Robert D. Gregg, Kevin M. Lynch
    Abstract:

    This paper presents a hybrid mechanical model for the Gibbot, a robot that dynamically locomotes along a vertical wall in a manner analogous to gibbons swinging between branches in the forest canopy. We focus on one particular gait, continuous-contact Brachiation, which always has one handhold in contact with the wall. We use zero-cost, unstable solutions corresponding to horizontal Brachiation, originally found by Gomes and Ruina, as templates to generate open-loop stable gaits in arbitrary directions. The first case considered is passive Brachiation down a shallow slope, roughly corresponding to upside-down locomotion of the well-studied compass-gait biped. We then consider underactuated Brachiation with a constant forcing term at the elbow to produce open-loop stable descending and ascending gaits.

M. Doi - One of the best experts on this subject based on the ideXlab platform.

  • energy based swing back control for continuous Brachiation of a multilocomotion robot research articles
    International Journal of Intelligent Systems, 2006
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, M. Doi, Toshio Fukuda
    Abstract:

    We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous Brachiation. The target continuous Brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous Brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named “Gorilla Robot III” whose dimensions are mimicking those of a gorilla. Continuous Brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm. © 2006 Wiley Periodicals, Inc. Int J Int Syst 21: 1025–1043, 2006.

  • energy based swing back control for continuous Brachiation of a multilocomotion robot
    International Journal of Intelligent Systems, 2006
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, M. Doi, Toshio Fukuda
    Abstract:

    We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous Brachiation. The target continuous Brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous Brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named "Gorilla Robot III" whose dimensions are mimicking those of a gorilla. Continuous Brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm.

  • Energy‐based swing‐back control for continuous Brachiation of a multilocomotion robot
    International Journal of Intelligent Systems, 2006
    Co-Authors: Hideki Kajima, Yasuhisa Hasegawa, M. Doi, Toshio Fukuda
    Abstract:

    We propose an energy-based control method for a multilocomotion robot to improve the stability of continuous Brachiation. The target continuous Brachiation is an effective locomotion from one bar to another exchanging a kinetic energy with potential energy like a pendulum. Our control strategy for the continuous Brachiation is to control the swing-back action so that the robot pumps up the feasible energy to grasp a target bar, and then the locomotion action is designed based on the symmetric motion of a pendulum in order to conserve the total energy: summation of the kinetic and potential energy. The proposed controller is implemented on a new type of mobile multilocomotion robot named "Gorilla Robot III" whose dimensions are mimicking those of a gorilla. Continuous Brachiation on various uniform ladders is experimentally achieved with this robot. The experimental results show the validity of our control algorithm.

  • multi locomotion robot energy based motion control for dexterous Brachiation
    Robotics and Biomimetics, 2005
    Co-Authors: Toshio Fukuda, Yasuhisa Hasegawa, M. Doi, Y. Asano
    Abstract:

    Summary form only given. This paper introduces a multi-locomotion robot which has multiple types of locomotion. The robot is developed to achieve a bipedal walk, a quadrupedal walk and a Brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. In this paper we focus on Brachiation mode and propose a control algorithm to realize stable and efficient continuous Brachiation while the ultimate purpose of this study is to develop a unified control architecture which realize multiple types of dexterous locomotion like an animal as well as motion stability and efficiency. Swing control of Brachiation according to the total energy of the system is one of key issues in order to realize the continuous Brachiation, because the Brachiation can be modeled as a pendulum-like motion and the amplitude of the oscillation determines whether the robot can grasp the target ladder or not. We propose an energy-based control algorithm and install it into the swing action controller. Experimental results show that the robot can successfully achieve smooth and continuous Brachiation

  • ROBIO - Multi-locomotion robot-energy based motion control for dexterous Brachiation
    2005 IEEE International Conference on Robotics and Biomimetics - ROBIO, 2005
    Co-Authors: Toshio Fukuda, Yasuhisa Hasegawa, M. Doi, Y. Asano
    Abstract:

    Summary form only given. This paper introduces a multi-locomotion robot which has multiple types of locomotion. The robot is developed to achieve a bipedal walk, a quadrupedal walk and a Brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. In this paper we focus on Brachiation mode and propose a control algorithm to realize stable and efficient continuous Brachiation while the ultimate purpose of this study is to develop a unified control architecture which realize multiple types of dexterous locomotion like an animal as well as motion stability and efficiency. Swing control of Brachiation according to the total energy of the system is one of key issues in order to realize the continuous Brachiation, because the Brachiation can be modeled as a pendulum-like motion and the amplitude of the oscillation determines whether the robot can grasp the target ladder or not. We propose an energy-based control algorithm and install it into the swing action controller. Experimental results show that the robot can successfully achieve smooth and continuous Brachiation