Re-planning of gait trajectory is a crucial ability to compensate for external disturbances. To date, a large number of methods for re-planning footsteps and timing have been proposed. However, robots with the ability to change gait from walking to running or from walking to hopping were never proposed. In this paper, we propose a method for re-planning not only for footsteps and timing but also for the types of gait which consists of walking, running and hopping. The re-planning method of gait type consists of parallel computing and a ranking system with a novel cost function. To validate the method, we conducted push recovery experiments which were pushing in the forward direction when walking on the spot and pushing in the lateral direction when walking in the forward direction. Results of experiments showed that the proposed algorithm effectively compensated for external disturbances by making a gait transition.

中文翻译：

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走、跑、跳之间动态步态转换的推送恢复策略

重新规划步态轨迹是补偿外部干扰的关键能力。迄今为止，已经提出了大量用于重新规划脚步和时间的方法。然而，从未提出过能够将步态从步行变为跑步或从步行变为跳跃的机器人。在本文中，我们提出了一种重新规划方法，不仅可以重新规划脚步和时间，还可以重新规划包括步行、跑步和跳跃在内的步态类型。步态类型的重新规划方法由并行计算和具有新颖成本函数的排名系统组成。为了验证该方法，我们进行了推恢复实验，即在原地行走时向前推动，向前行走时向横向推动。