抄録
In this paper we present the method to control the brachiation robot by showing the results of computer simulations using 2-link-model robot. The most difficult subject in this study is how to control it natually and dynamically and with taking advantage of gravity force. We used the genetic algorithm (GA) to create driving input force for the robot. GA is very useful for the optimization and machine learning. It can serch the most suitable value globally.
