Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

Weiguo Wu; Yasuhisa Hasegawa; Toshio Fukuda

Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

Weiguo Wu^*
, Yasuhisa Hasegawa
, Toshio Fukuda

^*Corresponding author for this work

Nagoya University

Research output: Contribution to conference › Paper › peer-review

8 Scopus citations

Abstract

A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented in this paper. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.

Original language	English
Pages	130-135
Number of pages	6
State	Published - 2001
Externally published	Yes
Event	40th SICE Annual Conference - Nagoya, Japan Duration: 25 Jul 2001 → 27 Jul 2001

Conference

Conference	40th SICE Annual Conference
Country/Territory	Japan
City	Nagoya
Period	25/07/01 → 27/07/01

Keywords

Gorilla robot
Inverse kinematics
Motion control
Self-motion
Walking mode
ZMP

Cite this

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title = "Walking mode shifting control from biped standing to quadruped walking for a gorilla robot",

abstract = "A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented in this paper. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.",

keywords = "Gorilla robot, Inverse kinematics, Motion control, Self-motion, Walking mode, ZMP",

author = "Weiguo Wu and Yasuhisa Hasegawa and Toshio Fukuda",

year = "2001",

language = "英语",

pages = "130--135",

note = "40th SICE Annual Conference ; Conference date: 25-07-2001 Through 27-07-2001",

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AU - Wu, Weiguo

AU - Hasegawa, Yasuhisa

AU - Fukuda, Toshio

PY - 2001

Y1 - 2001

N2 - A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented in this paper. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.

AB - A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented in this paper. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.

KW - Gorilla robot

KW - Inverse kinematics

KW - Motion control

KW - Self-motion

KW - Walking mode

KW - ZMP

UR - https://www.scopus.com/pages/publications/0035717240

M3 - 论文

AN - SCOPUS:0035717240

SP - 130

EP - 135

T2 - 40th SICE Annual Conference

Y2 - 25 July 2001 through 27 July 2001

ER -

Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

Abstract

Conference

Keywords

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