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Behavior transition between biped and quadruped walking by using bifurcation
- Source :
-
Robotics & Autonomous Systems . Feb2009, Vol. 57 Issue 2, p155-160. 6p. - Publication Year :
- 2009
-
Abstract
- Abstract: 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. [Copyright &y& Elsevier]
- Subjects :
- *ROBOTS
*ROBOTICS
*MOBILE robots
*ELECTROMAGNETIC induction
Subjects
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 57
- Issue :
- 2
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 36339150
- Full Text :
- https://doi.org/10.1016/j.robot.2008.04.005