Behavior transition between biped and quadruped walking by using bifurcation

Kenji Asa, Kosei Ishimura, Mitsuo Wada

Research output: Contribution to journalArticle

17 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 languageEnglish
Pages (from-to)155-160
Number of pages6
JournalRobotics and Autonomous Systems
Volume57
Issue number2
DOIs
Publication statusPublished - 2009 Feb 28
Externally publishedYes

Fingerprint

Bifurcation
Robots
Bifurcation (mathematics)
Hysteresis
Robot
Locomotion
Potential Function
Dynamic Behavior
Slope
Gradient
Demonstrate

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

Cite this

Behavior transition between biped and quadruped walking by using bifurcation. / Asa, Kenji; Ishimura, Kosei; Wada, Mitsuo.

In: Robotics and Autonomous Systems, Vol. 57, No. 2, 28.02.2009, p. 155-160.

Research output: Contribution to journalArticle

@article{eee26b90a73d4f7e8ff1978bf2e20312,
title = "Behavior transition between biped and quadruped walking by using bifurcation",
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.",
keywords = "Adaptative behavior, Behavior transition, Bifurcation, Biped robot, Central pattern generator",
author = "Kenji Asa and Kosei Ishimura and Mitsuo Wada",
year = "2009",
month = "2",
day = "28",
doi = "10.1016/j.robot.2008.04.005",
language = "English",
volume = "57",
pages = "155--160",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",
number = "2",

}

TY - JOUR

T1 - Behavior transition between biped and quadruped walking by using bifurcation

AU - Asa, Kenji

AU - Ishimura, Kosei

AU - Wada, Mitsuo

PY - 2009/2/28

Y1 - 2009/2/28

N2 - 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.

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

UR - http://www.scopus.com/inward/record.url?scp=58549104110&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=58549104110&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2008.04.005

DO - 10.1016/j.robot.2008.04.005

M3 - Article

VL - 57

SP - 155

EP - 160

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

IS - 2

ER -