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 journalArticlepeer-review

20 Citations (Scopus)


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 languageEnglish
Pages (from-to)155-160
Number of pages6
JournalRobotics and Autonomous Systems
Issue number2
Publication statusPublished - 2009 Feb 28
Externally publishedYes


  • 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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