Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot

Aoi, Shinya; Tsuchiya, Kazuo

doi:10.5772/4858

Cited by 7 publications

(7 citation statements)

References 43 publications

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“…Our previous work developed simple control systems for quadruped and biped robots using nonlinear oscillators and revealed that they achieved steady and robust walking verified by numerical simulations and hardware experiments [2], [19]. Furthermore, we extended the control systems to cope with the gait transition from quadrupedal to bipedal for a biped robot, which was only verified by numerical simulations [4], [5]. It is important to verify the performance of the proposed control system by using an actual robot.…”

Section: Introductionmentioning

confidence: 93%

“…To achieve the gait transition for the developed biped robot, we improved the proposed control system [4], [5]. The control system consists of the locomotion control system for each gait pattern and the gait change control system.…”

Section: Control Systemmentioning

confidence: 99%

“…In particular, neurophysiological studies have revealed that animal walking is generated by central pattern generators (CPGs) [14] that are widely modeled using nonlinear oscillators [18]. Based on such CPG models many biped robots and their control systems have been developed [2][3][4][5], [12], [13], [16].…”

Section: Control Systemmentioning

confidence: 99%

See 2 more Smart Citations

Experimental verification of gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot

Aoi

Egi

Ichikawa

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper addresses the control of the gait change from quadrupedal to bipedal locomotion of a biped robot. In our previous work, we developed a locomotion control system using nonlinear oscillators that generate adaptive walking behavior verified by numerical simulations and hardware experiments. We extended it to deal with the gait change from quadrupedal to bipedal by designing kinematic coordination between these gait patterns, which was only verified by numerical simulations. In this paper, we create a biped robot and improve the control system to verify the performance of the proposed control system.

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Section: Introductionmentioning

confidence: 93%

Section: Control Systemmentioning

confidence: 99%

See 1 more Smart Citation

Experimental verification of gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot

Aoi

Egi

Ichikawa

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…So, we need to put emphasis on getting smooth and quick gait transition. The bifurcation theory may be helpful in analyzing the system's stability [119,120] .…”

Section: Research Directionsmentioning

confidence: 99%

Survey of locomotion control of legged robots inspired by biological concept

Liu

Zhang

et al. 2009

Sci. China Ser. F-Inf. Sci.

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Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some other issues make the locomotion control of legged robots a much complicated task, such as the redundant degree of freedoms and balance keeping. From literatures, locomotion control has been solved mainly based on programming mechanism. To use this method, walking trajectories for each leg and the gaits have to be designed, and the adaptability to an unknown environment cannot be guaranteed. From another aspect, studying and simulating animals' walking mechanism for engineering application is an efficient way to break the bottleneck of locomotion control for legged robots. This has attracted more and more attentions. Inspired by central pattern generator (CPG), a control method has been proved to be a successful attempt within this scope. In this paper, we will review the biological mechanism, the existence evidences, and the network properties of CPG. From the engineering perspective, we will introduce the engineering simulation of CPG, the property analysis, and the research progress of CPG inspired control method in locomotion control of legged robots. Then, in our research, we will further discuss on existing problems, hot issues, and future research directions in this field. biological inspired control, central pattern generator (CPG), locomotion control

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“…Aoi et al proposed transition motion from biped to quadruped walking by changing the parameters of the nonlinear oscillator and conducted experimental verification [16,17]. These works focuse on realization of a stable motion transfer and the transition according to external environment has not been discussed.…”

Section: Introductionmentioning

confidence: 99%