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Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy

Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy

Shinya Aoi
Copyright: © 2013 |Pages: 14
ISBN13: 9781466642256|ISBN10: 1466642254|EISBN13: 9781466642263
DOI: 10.4018/978-1-4666-4225-6.ch002
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MLA

Aoi, Shinya. "Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy." Engineering Creative Design in Robotics and Mechatronics, edited by Maki K. Habib and J. Paulo Davim, IGI Global, 2013, pp. 11-24. https://doi.org/10.4018/978-1-4666-4225-6.ch002

APA

Aoi, S. (2013). Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy. In M. Habib & J. Davim (Eds.), Engineering Creative Design in Robotics and Mechatronics (pp. 11-24). IGI Global. https://doi.org/10.4018/978-1-4666-4225-6.ch002

Chicago

Aoi, Shinya. "Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy." In Engineering Creative Design in Robotics and Mechatronics, edited by Maki K. Habib and J. Paulo Davim, 11-24. Hershey, PA: IGI Global, 2013. https://doi.org/10.4018/978-1-4666-4225-6.ch002

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Abstract

Recently, interest in the study of legged robots has increased, and various gait patterns of the robots have been established. However, unlike humans and animals, these robots still have difficulties in achieving adaptive locomotion, and a huge gap remains between them. This chapter deals with the gait transition of a biped robot from quadrupedal to bipedal locomotion. This gait transition requires drastic changes in the robot posture and the reduction of the number of supporting limbs, so the stability greatly changes during the transition. A locomotion control system is designed to achieve the gait transition based on the physiological concepts of central pattern generator, phase resetting, and kinematic synergy, and the usefulness of this control system is verified by the robot experiment.

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