Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.