Abstract
This paper introduces posture control algorithms for a robot to statically and dynamically climb a vertical ladder. A free gripper position of a climbing robot is not controllable because a yawing of the robot body around the axis connecting a supporting gripper and foot on the ladder is not fixed. A gravitation momentum is used to control the yaw motion of the robot body so that static and dynamic motion such as a pace gait could be realized in a ladder climbing maneuver. The algorithms are experimentally verified by using a multi-locomotion robot we developed to achieve various types of locomotion such as a biped, quadruped walk and brachiation.
