Locomotion Stabilization with Transition between Biped and

Quadruped Walk based on Recognition of Slope

Hiroyoshi Sawada*, Kousuke Sekiyama*, Mikiko Kojo*,
Tadayoshi Aoyama*, Yasuhisa Hasegawat and Toshio Fukuda*

*Department of Micro System Engineering, Nagoya University, JAPAN

tDepartment of Intelligent Interaction Technologies, University of Tsukuba, JAPAN
Abstract- The applicative field of activities of robots who have
one locomotion strategy is limited. As means of enhancing
the mobile range, it is necessary to have various locomotion
modes. Therefore, we focus on dynamic transitions between
several kinds of locomotion modes adapting to environmental
changes. In this paper, we aim to realize stable locomotion
along some unknown test courses consisting of flat and slope
with transition between biped and quadruped walks. To achive
this transition, we propose a method to recognize a slope, a
design of the transition motion, and a technique for modifyinga
the trajectories of quadruped walk to move between flat and
slope. By experiments, we verify that the proposed methods can
successfully be applied to both upslope and downslope cases.

only

Figure 1. Concept of Multi-locomotion robot

I. INTRODUCTION
Then, we focus on transition between biped and quadruped
walk
based on recognition of terrain. As an elementary examRecently, robots which work in human society have been
in
developed, such as entertainment robots and lifestyle support ple, this paper, we aim to realize locomotion stabilization
robots. These robots need to have greater locomotion adapt- with transition between biped and quadruped walk based on
of a slope. The robot changes locomotion mode
ability than industrial robots designed for a task. Because there recognition
from
to quadruped walk in front of a slope. Because
biped
are various terrains in human society, such as stairs and slopes,
walk
has an advantage in stablity compared with
Therefore, they have to recognize terrain and perform stable quadruped
walk.
To
realize
this objective, we propose following
locomotion autonomously. Then, many studies on locomotion biped
three
we
things.
First, propose a method to estimate slope
adaptatability have been carried out.
and
distance
from starting point to boundary between
angle
A leg-wheel robot which can move on unknown rough
flat
and
with
a laser range finder. In addition, this method
slope
terrains by using only information of internal sensors has been is aple tobt nusoeadadwsoe
eody
developed [1]. This robot has an advantage that it can use
several locomotion modes adapting to various terrains. How- we design transition motion between biped and quadruped
posture. Although continuous transition from quadruped to
ever, the robot cannot obtain environmental information with
have been realized on a simulation [7], in this
only internal sensors until it moves there. If external sensors biped walk
the
robot
stops walk to transit posture in order that the
paper,
are also used for recognition, the robot can estimate terrain
is
conducted
method to
Finally, we propose
seec in
ocmtinmoenadace
fudue
akt aoeaon
and select locomotionandmode
advance. Assnohrxmpemotion
another example moi h retresafely.
y
qun
of adaptation to environment, behavior transitions between
avoid fallind down.
biped and quadruped walk based on gradient of slopes have boundary between flat ofand slope, to
walk
in 3D environment
Although
gait
planning
quadruped
been demonstrated by using the bifurcation phenomenon [2].
have
been
we deal with trajectory generation
[8],
realized
However, gradient is not the information which is estimated
from sensors. Therefore, also in this example, it can be said based on estimated information with a sensor. By experiments,
environmental recognition is required for realization we verify proposed techniques can be applied to both upslope
that priori.
and downslope cases, and show that stable locomotion with
trnstin
transition
between biped and quadruped walk is realized.
s
ofgaunstonom
Against this lockgromoti
background, we havedevelopedMul
have developed Multi-q
locomotion robot [4] (fig.1). With this robot, we aim to
II. MULTI-LOCOMOTION ROBOT
realize adaptive locomotion transltion based on environmental
recognition. Therfore, this robot has several locomotion modes
Multi-Locomotion Robot is a novel bio-inspired robot which
such as biped and quadruped walk, and brachiation. There can perfoim in stand-alone several kinds of locomotion such
have been proposals of control methods for several locomotion as biped walking, quadruped walking, and brachiation. We
modes [3]-[6] and verification of consumption energy [5] until built and developed Gorilla Robot III as a prototype of Multinow. Autonomous transition between these locomotion modes Locomotion Robot. Overview and link structure of Gorilla
based on environmental recognition is the current task.
Robot III is shown in fig.2. Its height is about 1.0 [in] and

978-1 -4244-291 9-6/08/$25OO0 2008 IEEE

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~ ~ ~x

finder, Al is the distance from the starting point to the center

of the laser range finder. These values can be calculated by
Figu ria rt IIsolving the inverse kinematics. Then, a point on the ground
surface can be described as (xi,
za).
Figure 3.

j.fi6 jfi,0

2Olu
afolw:DOlej5O

j.jAO

Iq-)

ahsmtraigh
for inxfigl4,
Each jito Atheboundr between faslope
2

h-dicosa)

22

)3

wurhichre
dwithopoint
ast-omsquaren meho
by
as plcbei
DD
opte ocnrl
lesromtr
~ln iscetrated
o
z-oordiates
Zstmaaethes
inqaupdosr,thrbtcand
o
tieterb.
poe Zmae Zmit
~
~ ~ ~ ~
Zounte.ordand
~~me
board,~
0.m Then, an andimu rangear gn as flTOwS
iia a.
i slopeon
theg points
ofse
As aensorfigureo 2.io Goril rlobot ai
3. L
(
olaser
terange finder- ardtana f
Fecmeaisaloigurled
points nilce
weight whr
is abheo
structure
is d nae
angula.esZuti.
which3)Ismeet
ise thek nube
~ ~~
at 22.0n
[kg].n
installed~
g ofeflahmead
rotatio axes o motersare pith and yw axes.In addiionnaiA
Lcmtio numoder fpit hc
etZnn<
i
FThermore
ts applicaed in case-sqomes
ist19o audy svm rC ue
in.
daeownlthonpe
the e
bad
.
in quadruped posture,
t cn
e iormati o
the robot
powerg tharesetoutsid
board,gcounterscmanh
serr
of
le pointan
sima wh.
Asgarsensoroforlrecognition
installed at theon neck ofrese the rooqF
lgDOFOarm,U2NDOF lubr
jon
Alhog
exmpe,spothis metodist
g
wnered taen anlupslopei for.5
E
achE
asfllw:6IO.
titem i
wist06 [deg]sctanpangular rangefise240e[deg],iscan

ra
1) B faer. w
In b
walk, (w)
the nex
las to finer neige
wiebcamyunderaisalsointled
j LzL
recognized at sloe ineko thex-zb2D
suFace3. Itan
fgul,ariesolthe onge[
Th
ANDOFQUADRUPEDPOSTURE
0.1r[is],andmaxrimumss rhangheirofrdtecioniis
BI
th
a RNITO
e to bitne
and [desgn,4.0teatt[pin].
1VESG
JEWE
pecnicud
iondacisaned
(6)
ofelaser
f
inde
then
laseulr
san
tmeto
tos
range
isabout220[kg].Tho
directly6under]
fre fe and the graitpeyr aetplne
tCG [the, te
schemat sOw tat t rOb
lmeasurE
ant
heeliogh
ofasfigurel4s:6DOF
the
disanc
AlNgt
ofUtheUPEnDulm
POTREfrigt9,w
laser anto thexdwnwar drection, andectio is
e
whrThi
n
innterboied powser Tre lserunsd the prolt
bunnwen lope
II.recogniTUNOzASOea
3DopinvethexzDpnuu
shownceIn fig.5, The isupportinglpoint G L-m
the
beweenthmer cete
alofisaldett
laserrnefner
randgte pointer on
Bpdwlig nbpdwak emdlterbta
Csartesanscorordinatessogthatitheiroriginp, i located
rathe pointe

the ground surface. These data are obtained from the laser
range finder. In addition, h is the heighteo the laser range
withthesagittalplaneTherefore,wedeinethesy
n c

s sn

1n de
1h
Fostaie

Fn

on

eq ( )c

the

ZG

kq ko
and
fwhere

constrainedcplane desi

=kSckyYGZC

as
(7)

are parameters determining the gradient of

the constrainedXplane, z is the z-intercept. If eq.(8)is satisfied,

Figure 4. Measuring an slope

Figure 5.

Robot modeled as 3D penulum

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*~ ~ ~ ~ '

COG moves on it.

[fe-L

fY-

r-kx

Swing Leg

O:Sac Leg
e
*:Stance

Fk1

fZ-mg]L-k2=O

(8)

~~~~~~~".Moving Direction

(2)

(1)

(3)

Substituting eq.(7) into eq.(8) gives f.

9
(9)

mgr

zc

Substituting eq.(9 )into eq.(6) yields the following equations.

{YG

?=

?G

(4)

(5)

(6)

(10)

YG

Solving eq.(10), eq.(11) are obtained.

f xc(t)=C exp( (g/Zc)
p
+C2exp(- g)

----o

-------

(11)

l. yG(t) =C3 exp( g/Zc) C4 exp(- g/ )

where C1, C2, C3, and C4 are given by following conditions.
(12
x(ti) a-- , xt=-a
2
2
yc(ti) = v
(13)
, y0(t2) -v
where a is the length of stride, tl, t2 are the times when
one foot contacts the ground, and when the other does,
respectively. In addition, v is the velocity of COG at tl.
Furthermore, we design the motion of the idling foot (xf,
zf)zf)
vyf,yf,
as shown in
in eq.(14).
eq.(l4).
as

Figure 6. Crawl gait

the robot then swings the front and rear legs on its other side
and adjusts its COG accordingly (Fig. 6(4)-(6)).
This shows that the Intermittent Crawl Gait is capable of
performing a forward motion that follows a zigzag COG
trajectory.
Next, we will describe the design method of a zigzag COG
trajectory. The COG trajectory is determined by ensuring the
projecting point of the COG is located among the static stable
domains provided by the support polygon. In this paper, the
position of the projective point of the COG is decided by
rf (t) Cf it3 + Cf2t2 + Cf3t + Cf4
gzf = /(1
(14) setting up the stability margin. The stability margin degree
b Iyf(t)
1nis the distance from the projecting point of the COG to the
tyf (t) = zf (t) tan Ovoll
neighborhood of the nearest support polygon (SM in Fig. 6),
where 0,01, is the roll angle of the ancle joint of supporting and is the evaluation index of the simplest static stability [17].
foot, Cf i, Cf 2, Cf 3, and Cf 4 are given by following condi- Thus, by establishing the stability margin, the projecting point
of the COG is determined, and the COG trajectory is projected.
tions.
shown

Xf (ti) =-a , Xf (t2)

f (ti) = 0
, f (t2)

=
=

(15)
.

(16)

Then, the joint angles are given by solving the inverse kinematics. In addition, the number of steps nb are decided with
Is.
2) Quadruped walking: In this paper, we use crawl gait
as a quadruped walking (fig.6) to move on flat or slope. In
this gait, the robot's motion is separated from its leg moving
parts and COG moving parts. So the robot realize more stable
quadruped walking than in case of legs and COG moving
simultaneously. And we can give the robot its The intermittent
crawl gait has been successfully used by robots walking on
steep slopes is a widely used control method [10], [11], [ 12],
[13], [14], [15].With Multilocomotion robot, the gait has been
obtained [16]. Its crawl gait pattern is described below.
First, the robot swings its rear and front legs on one
side forward while at the same time maintaining the COG
projection in the support polygon (Fig. 6(1)-(2)). Second, the
robot's state transitions from three-point grounding to fourpoint grounding. Third, the robot changes the COG inside a
new support polygon (Fig. 6(3)). Using the same

technique,

B. Design of transition motion

This section describes the transition from biped to
quadruped posture. Before transiting the posture between
biped and quadruped stance, the robot stops walking. The

_ _

\
(B)

(A)

(C)

Figure 7. Between biped posture and quadruped posture

Gank

It.

m=o

---c
3so
Oh--^ip Okne

b Ga Ca
'\Ca
lb

Mtr\

Fiur

ma<5

11112N3d\
8.

0,2'

if 1

Deiito ofteaamtr

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transition motion is designed on 2D model shown in fig7.

(A) shows the biped posture, (B) shows the moment that
front legs are leaving or touching the ground, and (C) shows
the quadruped posture. The design of motion is divided into
following two phases. Between (A) and (B) we control the
joint angles to keep COG right above the rear feet, and to
keep all the feet to the ground between (B) and (C). Fig.8
shows difinition of the parameters. The trajectories of Oanmk,
Okine, and Ohip between (A) and (B) are designed as eq.(17).

Oankk(t)
O kne,(t) j
L Ohip (t) J

aal

akl
Lahl

bal

dal 1

Cal

t3+ Lbkl t2+ Cklj t+ dkl2 (17)

bhl
L Ch(7L d)

where the coefficients of eq.(17) are determined from eq.(1 8)

to eq.(21).

are

kept to the ground.

+ 12 - 2torlllcos(w
2+2 -2
b +tor 11
Ob = COS 21
1

Ohip)

(28)
(29)

21bltor

VI 112Sfl2arik) (if 112COSOarik), (30)

((12 + b12_)

(31)

l + 112CO80an
If=tn_
O= tan
Id + ll2Osinank J

Od

1
=

(2

_2
+ 12-_12

2C1

(33)

[Oank(tA) Okine(tA) Ohip(tA) ]= [OAOnThe Ship ] P8) Then, osho and Ake are described as eq.34 and eq.35.
(19)
[rank(tLA) kne
r(LA) hip(LA)] T= [0 0 ]T
(34)
Osho Oa + Ob
Oank (tB) Ockne(tB) Ohip(tB)] - arik fb^rie O/jf20) ahOkne = - Oanrk + Ohip - Osho - Oc - Od * (35)
[&irikLB) Ore(L) Oh~(LB) T= [0 0 01T
(2)2
Oank (tB) Okine,(tB) Ohip (tB) ]21)
=[V. METHOD TO MODIFY THE TRAJECTORIES OF
o

where OA and 0B are the joint angles at (A) and (B), tA and
tB are the times at (A) and (B) , respectively. Then, Osho iS
found under the condition that COG is kept right above the
rear feet.

Osho

1 [M2C12s .
=arcsin(maca
Ll2Oarik

+mll (ll2 sinOanmk + Cll SinOkne)

where m, 1, and c are the parameters of the robot shown in

fig8.
Then, the trajectories of Oank and Ohip between (B) and (C)
are designed as eq.(23).

Ohip (t)

+F ba2 t2 +F Ca2 1 t+F da2 1

[bh2

[dh2 J

[Ch2 j

(x

ZSW

+ma(ll2sin0ank l+IllSin n,re + torSin0hip)}1V2)

F aa2 1
[ah2

To realize smooth locomotion aroud the boundary between

flat and slope, we designed feet position of landing and
modified the trajectory of COG. First, the modified height of
the robot's feet, at the time when they go beyond the boundary,
are given as eq.(36).

+mtor(ll2sin0ank + Illlsin0kftne + ctorsin0thip)

F Oank (t) 1

QUADRUPED WALK
A. Method to modify the feet trajectories

(23)

d) tan

where 0 is the slope angle estimated with information from

the laser range finder, x is the quad stride and d is the distance
from the feet position before moving to the boundary flat and
slope in fig. 9.

B. Method to modify the COG trajectory

Secondly, after the feet reaching slope, the COG trajectory

is revised as fellows. In fig.l0, when the robot goes beyond
the boundary, it is assumed that the robot walks on the ground

where the coefficients of eq.(23) are determined from eq.(24)

to eq.(27).

LRF

[Sark(LB) Ohjp(LB) ]

[rikL)O~(B

Oank (tLC) Ohip (tLC)

1T

[&ank(tC) Ohip(tC) ]T

B] , T

[O

[0C1

[=Lank
[0

(24)

(25

Ship T

(X ),Z

(26)

(27)

where tB and 00 are the joint angles at (B) and (C), LB and
Lc are the times at (B) and (C) , respectively. Then, 1 and 0

shown in fig.8 are found under the condition that all the feet

(36)

d__

I I
Figure 9. Planning the position of landing

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x/2

zc

ZJ i

TABLE I
CONDITION OF EXPERIMENT 1

2+iG
LPF

[deg]
15.0

IS[m] TB[S] |VB[S]

1.0

2.00

0.100

TABLE II

AW

|TQ[S]
VQ[S] |TB Q[S]]
10.0
8.00 0.0675

RESULTS OF EXPERIMENT 1

X t ~b

Figure 10. Modification of COG position

tilted at . Using the feet modified value zsWS we design the

angle / as eq.(37).

/3=

arcsin (j)wac.
(37)
b
where b is the distance from front feet to rear feet. This
parameter is a fixed number because of the quad stride doesn't
change. Then the value of the modified COG height is given

tan

16.3

21

TB, VB are the period and the velocity of biped walk, and TQ,
VQ are those of quadruped walk. Tablell shows the estimated
parameters. Scaned data with LRF are shown in fig.12 and
fig.13 shows snapshots of Experiment 1
400

6030,1 """

200
100

-1000

1O0

500
Figure

by eq.(38).

Zcog

s[m] |nb|
_ _X~~~~[deg] T0990T1

~ ~

12.

1500
2000
X-coordinate[mmn]

Estimated

shape

2500

3000

of terrain 1

(38)

In the same way as feet modifications, COG trajectory

is adjusted with the z axis direction.The above-mentioned
method adjusts only side motion, right or left side. The robot
repeat this motion, so it ascend on a discontinuous plate.
On the flat, prejective point of COG is fixed on the stability
margin(fig6). In the case of moving on the slope, projective
point of COG is shown as figil1. The COG trajectorys are
needed to change for the purpose of this point existing inside
suppurt polygons. When the robot steps on slope completely,
its prejective point of COG altered during one moving phase.
So the robot is capable of adjusting to both flat and slope.

t-O[s]

t=7[s]

t=14[s]

t=21 [s]

t=28 [s]

t=35 [s]

VI. EXPERIMENT

A. Experiment ]
In this experiment, the robot walks from flat to upslope. At
first, it estimates the slope
S information (b and IS) in biped
posture at the stating point. Based on it, nb is desided. Then,
the robot starts biped walk and stops it at nb steps to transit to
quadruped posture. Finally the robot climbs up the upslope in
quadruped posture. Tablel shows the experimental condition.

t42E49 ~ EE
~~~~~
~ ~~~~

~ ~~~~~~~~~~~~~~~~t=4
~ [s]t=4IS]t56 ,S,
Figure 13. Snapshots of Experiment 1

B. Experiment 2
In this experiment, the robot walks from flat to downslope
in the same way as Experiment 1. Tablelll shows the experimental condition. Fig.14 discribe the shape of terrain 2 given
by LRF. TableIV show the estimated terrain and parameters.
And snapshots of Experiment 2 are shown in fig.15.

\
,
t
iv, _
C_

Discussion
~~~~~~~C.

,_

error range of b was within 1.5[deg]. That Of ls was

~~~~~~~~The
O.02[m]. Although stable locomotion was realized to
~~~~~~~~~~within

Projcctivc Point of COG

an extent in experiment, the accuracy of slope estimation is

not enough. Therefore, we are planning to use other sensors
together for terrain estimation.

Figure 11. Projective Point of COG

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TABLE III
CONDITION OF EXPERIMENT 2

I[deg] lS[m] TB[S] VB[S]I TQ[S]I VQ[S]I TB<Q[S]

10.0

0.7

2.00

0.100

8.00

0.0675

10.0

'lI

-200
-400
3

TABLE IV
RESULTS OF EXPERIMENT 2

|[deg] Ts [ml
9.95

0.72

X-coordinate[mm]

Figure 14.

nb
3

Estimated shape of terrain 2

VII. CONCLUSIONS AND FUTURE WORKS

A. Conclusions
In this paper, we made following three propositions. The
first was a method to recognize an unknown slope with the
laser range finder. The second was the design of transition
motion between biped and quadruped posture. The third was a
technique for modifying the trajectories of quadruped walk. By
experiments, we verified the proposed methods can be applied
to both upslope and downslope cases, and showed that stable
locomotion with transition between biped and quadruped walk
have been realized.
B. Future Works
Although we dealt with only biped walk and quadruped
walk in this paper, we will deal with other locomotion modes
such as brachation and ladder climbing for transition. Furthermore, we will poropose environmental recognition with
information from other sensors for example inclination sensor
and gyroscope.
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t=3[s]

t=7[s]

t=14 [s]

t=21 [s]

t=28 Es]

t=35 [s]

t=42 [s]
t=49ss]
Figure 15. Snapshots of Experiment 2

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