Design Method of Brachiation ControllerBased on PDAC

• We analyzed the dynamics equation of brachiation robot using Passive Dynamics Autonomous Controller (PDAC), and we built a brachiation controller using this equation.
• The proposed method can improve the locomotion action as much as 50% in terms of energy consumption, and 20% in terms moving speed.
• The robot using the proposed method can achieve brachiation in an irregular ladder.