Adaptive Behavior to Environment of a Humanoid Robot with CPG

Kenji Asa; Kosei Ishimura; Mitsuo Wada

doi:10.11499/sicep.2004.0.111.1

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0.111.1

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Adaptive Behavior to Environment of a Humanoid Robot with CPG

*Kenji Asa, Kosei Ishimura, Mitsuo Wada

Author information

Keywords: CPG, Biped walking, Quadruped walking

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 111

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Abstract

It has been difficult to avoid falling over for walking robot with only legs. However, by adding arms, the robot is possible to transit from biped-walking to more stable quadruped-walking when the robot cannot maintain biped-walking. We demonstrate the limit of stable gait and that the robot can maintain locomotion through the transition to stable quadruped-walking despite applied external force.

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