Title :
Transition from quadrupedal to bipedal locomotion
Author :
Aoi, Shinya ; Tsuchiya, Kazuo
Author_Institution :
Dept. of Aeronaut. & Astronaut., Kyoto Univ., Japan
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 :
gait analysis; legged locomotion; motion control; nonlinear systems; numerical analysis; oscillators; biped robot; bipedal locomotion; gait transition; locomotion control system; nonlinear oscillator; quadrupedal locomotion; Control system synthesis; Control systems; Leg; Legged locomotion; Limit-cycles; Nonlinear control systems; Numerical simulation; Orbital robotics; Oscillators; Robot kinematics; Biped robot; Bipedal locomotion; Gait transition; Nonlinear oscillators; Quadrupedal locomotion;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545499
