Transition from quadrupedal to bipedal locomotion

被引：5

作者：

Aoi, S ^{[1
]}

Tsuchiya, K ^{[1
]}

机构：

[1] Kyoto Univ, Grad Sch Engn, Dept Aeronaut & Astronaut, Sakyo Ku, Kyoto 6068501, Japan

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

gait transition; biped robot; quadrupedal locomotion; bipedal locomotion; nonlinear oscillators;

D O I：

10.1109/IROS.2005.1545499

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：3419 / 3424

页数：6

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