Behavior transition between biped and quadruped walking by using bifurcation

Kenji Asa*, Kosei Ishimura, Mitsuo Wada

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Animals select gait which is suitable for their moving speeds, environments and their purposes. Such behavior transition is carried out to minimize energy consumption or to adapt to the environment. The transition of animals from a gait to another gait is discontinuous generally. However, the changes of moving speed, energy consumption, and etc. are continuous. In this research, we focus our discussion on the discontinuous dynamic behavior transition of a walking robot. The robot transits from biped walking to quadruped walking to adapt to the environment. For the transition, bifurcation of potential function is utilized. We demonstrate the behavior transition of the walking robot between biped and quadruped walking. The behavior transition which is an adaptive behavior to the environment depending on gradient of a slope is carried out by using bifurcation of parameters used for control. We also show the transition using the hysteresis on a slope where the robot with simple transition between biped and quadruped walking cannot walk. The hysteresis is generated by using a potential function which changes dynamically depending on some parameters.

本文言語English
ホスト出版物のタイトルIntelligent Autonomous Systems 9, IAS 2006
ページ776-785
ページ数10
出版ステータスPublished - 2006
外部発表はい
イベント9th International Conference on Intelligent Autonomous Systems, IAS 2006 - Tokyo, Japan
継続期間: 2006 3月 72006 3月 9

出版物シリーズ

名前Intelligent Autonomous Systems 9, IAS 2006

Conference

Conference9th International Conference on Intelligent Autonomous Systems, IAS 2006
国/地域Japan
CityTokyo
Period06/3/706/3/9

ASJC Scopus subject areas

  • コンピュータサイエンス一般
  • 計算力学
  • 制御およびシステム工学

フィンガープリント

「Behavior transition between biped and quadruped walking by using bifurcation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル