Adaptive behavior to environment of a humanoid robot with CPG

Kenji Asa; Kosei Ishimura; Mitsuo Wada

Adaptive behavior to environment of a humanoid robot with CPG

Kenji Asa^*, Kosei Ishimura, Mitsuo Wada

^*この研究の対応する著者

研究成果: Paper › 査読

5 被引用数 (Scopus)

抄録

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.

本文言語	English
ページ	2571-2576
ページ数	6
出版ステータス	Published - 2004 12月 1
外部発表	はい
イベント	SICE Annual Conference 2004 - Sapporo, Japan 継続期間: 2004 8月 4 → 2004 8月 6

Conference

Conference	SICE Annual Conference 2004
国/地域	Japan
City	Sapporo
Period	04/8/4 → 04/8/6

ASJC Scopus subject areas

制御およびシステム工学
コンピュータサイエンスの応用
電子工学および電気工学

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引用スタイル

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title = "Adaptive behavior to environment of a humanoid robot with CPG",

abstract = "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.",

keywords = "Adaptive Behavior, Biped Walking, CPG, Quadruped Walking",

author = "Kenji Asa and Kosei Ishimura and Mitsuo Wada",

year = "2004",

month = dec,

day = "1",

language = "English",

pages = "2571--2576",

note = "SICE Annual Conference 2004 ; Conference date: 04-08-2004 Through 06-08-2004",

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TY - CONF

T1 - Adaptive behavior to environment of a humanoid robot with CPG

AU - Asa, Kenji

AU - Ishimura, Kosei

AU - Wada, Mitsuo

PY - 2004/12/1

Y1 - 2004/12/1

N2 - 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.

AB - 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.

KW - Adaptive Behavior

KW - Biped Walking

KW - CPG

KW - Quadruped Walking

UR - http://www.scopus.com/inward/record.url?scp=12744273176&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=12744273176&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:12744273176

SP - 2571

EP - 2576

T2 - SICE Annual Conference 2004

Y2 - 4 August 2004 through 6 August 2004

ER -

Adaptive behavior to environment of a humanoid robot with CPG

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Conference

ASJC Scopus subject areas

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