Akinori Miyata

2 accepted papers

2020

Walking With Arm Swinging and Pelvis Rotation Generated With the Relative Angular Acceleration

Akinori Miyata, Sho Miyahara, Dragomir N. Nenchev

RA-L 2020

A natural-looking arm swinging in biped locomotion can be generated by appropriately controlling the quantities derived from the momentum equilibrium principle such as the rate of change of the relative angular momentum or the relative angular acceleration (RAA). The arm swinging compensates complet

Cited by 13 Source ↗Scholar ↗

2019

The VRP Generalized Inverse and Its Application in DCM/VRP-Based Walking Control

Dragomir N. Nenchev, Akinori Miyata, Sho Miyahara, Takehide Hamano

RA-L 2019

A generalized inverse, referred to as the virtual-repellent-point generalized inverse (VRP-GI), is proposed to solve the underdetermined body-wrench distribution problem. The VRP-GI is derived as a modification of the divergent-component-of-motion generalized inverse (DCM-GI) introduced in a previou

Cited by 5 Source ↗Scholar ↗