Multi-locomotion robotic systems. New concepts of bio-inspired robotics (Q430520)

The present book describes robotic locomotion systems, such as multi-legged locomotion, brachiation, hopping, and snake locomotion. Further, the novel concept of bio-inspired robotics named ``multi-locomotion robot'', which can perform in stand-alone several kinds of locomotion, is introduced. Finally, control methods and demonstrations of the multi-locomotion robot are described. The book is organized as follows. Chapter 1 introduces robot locomotion systems and the concept of the multi-locomotion robot. In Chapter 2, basics of robotic motion control are explained, especially the passive dynamic autonomous control (PDAC). Chapter 3 describes the link structure and control system including sensors and actuators of the Gorilla robot -- designed as a multi-locomotion robot. In Chapter 4, multiple brachiating controllers for the Gorilla robot are described. In Chapter 5, quadruped walking is considered. The next chapter studies ladder climbing motion and Chapter 7 presents transition motion from ladder climbing to brachiation. In Chapter 8, a method to choose a suitable locomotion mode by estimating the falling down risk is proposed. In Chapter 9, applications of passive dynamic autonomous control to multiple motions are presented. The book ends with a rich references containing more than 300 titles. The intended audience for this book consists of control scientists and control engineers as well as graduate and PhD students in the area of robotics and mechatronics.