Tham khảo tài liệu 'humanoid robots - new developments part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot 27 center of mass of robot center of left foot D center of right foot left hand right hand 03 Fig. 9. Trajectory of center of mass of robot projected on the ground and contact positions of the hands and the center of feet on the ground. Time of feet and hands indicate when they land on the ground. s s s s s s s s Fig. 10. Snapshots of gait transition from quadrupedal to bipedal locomotion. 5. Discussion Kinematical and dynamical studies on biped robots are important for robot control. As described above although model-based approaches using inverse kinematics and kinetics have generally been used the difficulty of establishing adaptability to various environments as well as complicated computations has often been pointed out. In this paper we employed an internal structure composed of nonlinear oscillators that generated robot kinematics and adequately responded based on environmental situations and achieved dynamically stable quadrupedal and bipedal locomotion and their transition in a biped robot. Specifically we generated robot kinematical motions using rhythmic signals from internal oscillators. The oscillators appropriately responded to sensory signals from touch sensors and modulated 28 Humanoid Robots New Developments the rhythmic signals and physical kinematics resulting in dynamical stable walking of the robot. This means that a robot driven by this control system established dynamically stable and adaptive walking through the interaction between the dynamics of the mechanical system the oscillators and the environment. Furthermore this control system needed neither accurate modeling of the robot and the environment nor complicated computations. It just relied on the timing of the touch sensor signals it is a simple control system. Since biped robots generate various motions manipulating many degrees of freedom the key issue in
