LOAD ALLOCATION CONTROL IN MOTION TRANSFER FROM LADDER CLIMBING TO BRACHIATION FOR A MULTI-LOCOMOTION ROBOT

This paper describes a load allocation control in the motion transfer for a multi locomotion robot which has two legs and two arms. The load allocation control focus on allocating the torques of supporting joints by changing the torques of one or some important motors. Instead of setting the important motors' voltage by trying in our motion transfer, we explain how to set the parameters in theory in this paper. As a result, the maximum torques of joints is reduced by setting the suitable voltages to the hip motors. And all the motors can work in a safe condition even if there are some position errors existing. The robustness of the designed motions with load allocation control is experimentally verified.