Behavior transition between biped and quadruped walking by using bifurcation

Kenji Asa; Kosei Ishimura; Mitsuo Wada

doi:10.1016/j.robot.2008.04.005

Behavior transition between biped and quadruped walking by using bifurcation

Kenji Asa, Kosei Ishimura^*, Mitsuo Wada

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

20 Citations (Scopus)

Abstract

In this research, we focus our discussion on the discontinuous dynamic behavior transition of a walking robot. For the transition, bifurcation of potential function is utilized. We demonstrate the behavior transition of the walking robot between biped and quadruped locomotion as an adaptation to the environment depending on the gradient of a slope. The behavior transition is carried out by using bifurcation of parameters used for control. We also show the effectiveness of hysteresis in the transition.

Original language	English
Pages (from-to)	155-160
Number of pages	6
Journal	Robotics and Autonomous Systems
Volume	57
Issue number	2
DOIs	https://doi.org/10.1016/j.robot.2008.04.005
Publication status	Published - 2009 Feb 28
Externally published	Yes

Keywords

Adaptative behavior
Behavior transition
Bifurcation
Biped robot
Central pattern generator

ASJC Scopus subject areas

Control and Systems Engineering
Software
Mathematics(all)
Computer Science Applications

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10.1016/j.robot.2008.04.005

Cite this

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AU - Ishimura, Kosei

AU - Wada, Mitsuo

PY - 2009/2/28

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AB - In this research, we focus our discussion on the discontinuous dynamic behavior transition of a walking robot. For the transition, bifurcation of potential function is utilized. We demonstrate the behavior transition of the walking robot between biped and quadruped locomotion as an adaptation to the environment depending on the gradient of a slope. The behavior transition is carried out by using bifurcation of parameters used for control. We also show the effectiveness of hysteresis in the transition.

KW - Adaptative behavior

KW - Behavior transition

KW - Bifurcation

KW - Biped robot

KW - Central pattern generator

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Behavior transition between biped and quadruped walking by using bifurcation

Abstract

Keywords

ASJC Scopus subject areas

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