Dynamic gait transition between bipedal and quadrupedal locomotion

Influence of trunk structure on posture transition from quadrupedalism to bipedalism

“…Therefore, it is important to achieve quick transition from quadrupedalism to bipedalism. There are some approaches toward achieving posture transition between quadrupedal and bipedal locomotion [7][8][9][10][11]. In [7,8], authors proposed controllers for the transition utilizing Central Pattern Generator.…”

“…To our knowledge, few studies have discusses faster transition. Although a faster transition is proposed in [11], it required a complete motion including ankle and knee joints. By considering that a quicker transition requires the swinging up/down of the upper body while limbs are moving for locomotion, we discuss the quicker transition utilizing minimum set of joint actuation.…”

“…Therefore, the pathway of the trunk is longer than that of the other parts, and for a quicker transition, a higher acceleration or deceleration that significantly influences the transition stability is required. To achieve quicker transition, one strategy is to utilize a feedback controller that determines the location of the limbs and arms by using precise sensing and a robot model [11], and the other strategy is to design a suitable trunk mechanism that provides mechanical transition without the feedback controller. In this study, the second strategy is adopted and a suitable trunk mechanism, providing successful posture transition with minimum number of sensors and actuators, is designed.…”

“…Conventional bipedal and quadrupedal robots have a rigid body [1][2][3][4][5][6][7][8]11]. However, their transition is significantly influenced by the trunk's large inertia, locus, center of mass, and large acceleration or deceleration during the quick transition.…”

ROMANSY 21 - Robot Design, Dynamics and Control

“…As for flying robots, some platforms of unmanned aerial vehicle (UAV) for several purposes such as load carriage (Pounds et al 2011) and manipulation (Kondak et al 2014) are developed, but they are not appropriate for tasks requiring direct contact like hammering test. In addition, it is effective to make them have some locomotion style such as biped, quadruped (Fukuda et al 2005;Kamioka et al 2015) and crawling and choose the proper style when they move in a disaster site. In addition, it is effective to make them have some locomotion style such as biped, quadruped (Fukuda et al 2005;Kamioka et al 2015) and crawling and choose the proper style when they move in a disaster site.…”