This Multi-Locomotion Robot introduces locomotion robots which have unique types of locomotion such as brachiation, ladder climbing, biped walk, quadruped walk, transferring motion, and so on. These types of locomotion enhance the versatility of robots working in an actual environment. Robot's locomotion is one of design problem based on kinematics, and dynamics to improve stability, energy consumption, velocity, maneuverability and so on. We solve problems related to the locomotion: each locomotion design; transition motion desing to connect different types of locomotion; autonomous selection of the optimal locomotion for recognized situation; and unification of multiple gaits to enhance their performance.
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