3 accepted papers
To implement successful bipedal locomotion in a robot, its center of pressure (CoP) is placed on a supporting area. To achieve locomotion, many studies have focused on the lower body. Given that the human upper body has a large mass and its behavior influences locomotion even in the case of the robo…
It is expected that human locomotion, in which the trunk twists and arms swing, provides stability as well as compensation for the angular momentum because the trunk and arms are placed over legs and then their position and the acceleration influence the bipedal locomotion. This paper presents a bip…
Although passive and semi-passive walkers provide energy-efficient locomotion, walking behavior such as a walking cycle cannot be controlled because it depends on a fixed mechanical property such as the center of mass or the foot shape. In this paper, referring to the upper body of a human, we propo…