LOCOMOTION
Transition from quadrupedal to bipedal locomotion
Shinya Aoi, K. Tsuchiya
- Year
- 2005
- Citations
- 12
Abstract
This paper deals with gait transition from quadrupedal to bipedal locomotion of a biped robot. The robot is controlled by our developed locomotion control system composed of nonlinear oscillators, and gait transition is achieved by changing parameters in the control system according to outer commands. Numerical simulations verified that the proposed control system obtains smooth gait transition from quadrupedal to bipedal locomotion.
Keywords
QuadrupedalismGaitControl theory (sociology)BipedalismRobot locomotionRobotComputer scienceTransition (genetics)Nonlinear systemControl (management)
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