Functional Roles of Phase Resetting in the Gait Transition of a Biped Robot From Quadrupedal to Bipedal Locomotion

@article{Aoi2012FunctionalRO,
  title={Functional Roles of Phase Resetting in the Gait Transition of a Biped Robot From Quadrupedal to Bipedal Locomotion},
  author={Shinya Aoi and Yoshimasa Egi and Ryuichi Sugimoto and Tsuyoshi Yamashita and Soichiro Fujiki and Kazuo Tsuchiya},
  journal={IEEE Transactions on Robotics},
  year={2012},
  volume={28},
  pages={1244-1259}
}
Although physiological studies have shown evidence of phase resetting during fictive locomotion, the functional roles of phase resetting in actual locomotion remain largely unclear. In this paper, we have constructed a control system for a biped robot based on physiological findings and investigated the functional roles of phase resetting in the gait transition from quadrupedal to bipedal locomotion by numerical simulations and experiments. So far, although many studies have investigated… CONTINUE READING

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