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 |
| 巻 | 57 |
| 発行部数 | 2 |
| DOI | |
| 出版物ステータス | Published - 2009 2 28 |
| 外部発表 | Yes |
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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
}
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
AN - SCOPUS:58549104110
VL - 57
SP - 155
EP - 160
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
SN - 0921-8890
IS - 2
ER -