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

Proceedings of the SICE Annual Conference

Volumn , Issue , 2001, Pages 130-135

  Wu, Weiguo ^a   Hasegawa, Yasuhisa ^a   Fukuda, Toshio ^a  

^a NAGOYA UNIVERSITY   (Japan)

Author keywords

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

Indexed keywords

BIPED LOCOMOTION; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; INVERSE KINEMATICS; MOTION CONTROL;

GORILLA ROBOT; QUADRUPED WALKING; WALKING MODE;

MOBILE ROBOTS;

EID: 0035717240     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. The development of honda humaniod robot
2. Sony legged robot for robocup challenge
3. A study on the Brachiation Type of MobileRobot (heuristic creation of driving input and control using CMAC)
4. Natural motion trajectory generation of biped locomotion robot using genetic algorithm through energy optimization
5. Gorilla robot mechanism design and basic research of standing up action
6. Standing up motion control of a gorilla robot for a transition from quadruped locomotion to biped walking