Kamioka, Takumi (Honda R&D Co., Ltd.), Watabe, Tomoki (Honda R&D Co., Ltd.), Kanazawa, Masao (Honda R&D Co., Ltd.), Kaneko, Hiroyuki (Honda R&D Co.,Ltd.), Yoshiike, Takahide (Honda R&D Co., Ltd.)

Dynamic Gait Transition between Bipedal and Quadrupedal Locomotion

Scheduled for presentation during the Regular session "Humanoid Robots 1" (WeAT10), Wednesday, September 30, 2015, 09:30−09:45, Saal 8

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on May 25, 2019

Abstract

Applying humanoid robots in disaster sites requires strong locomotion abilities due to the cluttered and unstructured environment. Besides bipedal walking, it is beneficial to provide functionality to locomote on four limbs, and to control the transitions between bipedal and quadrupedal locomotion. In this paper, we propose a planning algorithm for bipedal and quadrupedal locomotion with intermediate transitions. The algorithm is based on the divergent component of motion for a linear time-variant inverted pendulum model with variable height and a flywheel. The model was validated by model comparisons in a simulation experiment. In addition, the algorithm was validated on a real robot, which realized a sequence of bipedal and quadrupedal locomotion without intermediate stops.