Locomotoin method using swing motion for ASTERISK

The goal of this research is to enhance the mobility of "ASTERISK". A new locomotion method by using swing motion with wire holding leg is proposed. The motion planning employs simple 2-links model and the 2-nd joint is controlled by using cycloid trajectory. The single mass model is realized by using resolved momentum control for multi-link robot. The proposed methods are implemented to“ ASTERISK ”model in dynamic simulator and a real robot and the feasibility is confirmed. We achieve ASTERISK to make swing motion in physical simulation, and affirm swing motion with real robot.