Adaptive behavior to environment of a humanoid robot with CPG

Kenji Asa*, Kosei Ishimura, Mitsuo Wada

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)


It has been difficult to avoid falling over for walking robot with only legs. However, by adding arms, the robot is possible to transit from biped walking to more stable quadruped walking when the robot cannot maintain biped walking We demonstrate the limit of stable gait and that the robot can maintain locomotion through the transition to stable quadruped walking despite applied external force.

Original languageEnglish
Number of pages6
Publication statusPublished - 2004
Externally publishedYes
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: 2004 Aug 42004 Aug 6


ConferenceSICE Annual Conference 2004


  • Adaptive Behavior
  • Biped Walking
  • CPG
  • Quadruped Walking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Adaptive behavior to environment of a humanoid robot with CPG'. Together they form a unique fingerprint.

Cite this