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This paper addresses the control of the gait change from quadrupedal to bipedal locomotion of a biped robot. In our previous work, we developed a locomotion control system using nonlinear oscillators that generate adaptive walking behavior verified by numerical simulations and hardware experiments. We extended it to deal with the gait change from quadrupedal to bipedal by designing kinematic coordination between these gait patterns, which was only verified by numerical simulations. In this paper, we create a biped robot and improve the control system to verify the performance of the proposed control system.