Behavior transition between biped and quadruped walking by using bifurcation |
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| Authors: | Kenji Asa Kosei Ishimura Mitsuo Wada |
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| Affiliation: | 1. Sony Ericsson Mobile Communications Japan, Inc., Japan;2. Graduate School of Information Science and Technology, Hokkaido University, N14-W9 Sapporo, 060-0914, Japan;1. Departamento de Matemática, Facultad de Ingeniería, Universidad de Buenos Aires, Buenos Aires, Argentina;2. Universidad Internacional de La Rioja, Logroño, Spain;3. Instituto Universitario de Matemática Multidisciplinar, Universitat Politècnica de València, 46022 Valéncia, Spain;1. Graduate Program in Electrical Engineering, Federal University of Minas Gerais, Av. Antônio Carlos 6627, 31270-901 Belo Horizonte, MG, Brazil;2. Federal University of Itajubá - Advanced Campus of Itabira, Irmã Ivone Drumond 200 - Distrito Industrial II, 35903-087 Itabira, MG, Brazil;1. Department of Mathematics, Southeast University, Nanjing 210096, China;2. Department of Mathematics, Yangzhou University, Yangzhou 225002, China;3. Faculty of Engineering, King Abdulaziz University, Jeddah 21589, Saudi Arabia;4. School of Computer Science & Software Engineering, Tianjin Polytechnic University, Tianjin 300387, China |
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| 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. |
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