Behavior transition between biped and quadruped walking by using bifurcation
Behavior transition between biped and quadruped walking by using bifurcation
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DOI：
10.1016/j.robot.2008.04.005
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发表时间：
2009-02-28
影响因子：
4.3
通讯作者：
Wada, Mitsuo
中科院分区：
文献类型：
--
作者：
Asa, Kenji;Ishimura, Kosei;Wada, Mitsuo
在本研究中，我们重点讨论了步行机器人的不连续动态行为转换。对于转换，利用了势函数的分岔。我们展示了行走机器人在两足和四足运动之间的行为转变，作为对环境的适应，取决于斜坡的梯度。利用控制参数的分岔来实现行为转换。我们还证明了迟滞在过渡中的有效性。(C) 2008 Elsevier B.V.版权所有
In this research, we focus our discussion on the discontinuous dynastic 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. (C) 2008 Elsevier B.V. All rights reserved.