Behavior Transition between Biped and Quadruped Walking by using Bifurcation

Kenji Asa, Kosei Ishimura, Mitsuo Wada. Behavior Transition between Biped and Quadruped Walking by using Bifurcation. In Tamio Arai, Rolf Pfeifer, Tucker R. Balch, Hiroshi Yokoi, editors, Intelligent Autonomous Systems 9 - IAS-9, Proceedings of the 9th International Conference on Intelligent Autonomous Systems, University of Tokyo, Tokyo, Japan, March 7-9, 2006. pages 776-785, IOS Press, 2006.

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