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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: CPG, Biped walking, Quadruped walking

会議録・要旨集フリー

p. 111

詳細

抄録

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.

責任著者(Corresponding author)

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