4 accepted papers
This paper mathematically conceives a novel walking support device that leverages passive dynamics and coupling effects. In this model, a passive human walker is flexibly connected to an active humanoid, where the coupling effect induces a stable walking gait of the human. To understand the key mech…
Undulation is the most common gait generated by legless creatures, which enables their robust and efficient locomotion in various environments. Such advantages inspired the control design of many kinds of locomotion robots. Despite their technical details, most of them realize the undulation gait vi…
Particular tasks performed in narrow and confined spaces require a capability of passing through a limited pathway. Consequently, previous research developed a snake-like robot that generates a 1-D rectilinear gait with an appropriate mechanical design. In contrast, a rigorous mathematical model and
Biological observations on tetrapods locomotion deduce that anti-phase synchronization (APS) between fore and rear parts is beneficial for achieving a high-speed walking. On the other hand, theoretical analysis and experimental studies on quadruped robots suggest that a flexible spine potentially im…