Behavior transition between biped and quadruped walking by using bifurcation

Kenji Asa, Kosei Ishimura, Mitsuo Wada

研究成果: Article

18 引用 (Scopus)

抄録

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.

元の言語English
ページ(範囲)155-160
ページ数6
ジャーナルRobotics and Autonomous Systems
57
発行部数2
DOI
出版物ステータスPublished - 2009 2 28
外部発表Yes

Fingerprint

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

これを引用

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

:: Robotics and Autonomous Systems, 巻 57, 番号 2, 28.02.2009, p. 155-160.

研究成果: Article

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