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

^*Corresponding author for this work

Research output: Contribution to conference › Paper › peer-review

5 Citations (Scopus)

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.

Original language	English
Pages	2571-2576
Number of pages	6
Publication status	Published - 2004 Dec 1
Externally published	Yes
Event	SICE Annual Conference 2004 - Sapporo, Japan Duration: 2004 Aug 4 → 2004 Aug 6

Conference

Conference	SICE Annual Conference 2004
Country/Territory	Japan
City	Sapporo
Period	04/8/4 → 04/8/6

Keywords

Adaptive Behavior
Biped Walking
CPG
Quadruped Walking

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

@conference{53733d779e154524a73aee986748763b,

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

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Cite this