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.
- Adaptative behavior
- Behavior transition
- Biped robot
- Central pattern generator
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications