3 accepted papers
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the horizontal dynamics of the upper body on bipedal walking. The limi…
Our research team has been developing biped robots based on the nature of passive dynamics. We aim to both investigate the effect of wobbling mass and apply the findings to biped robots to achieve high-performance running. We used an elastically supported wobbling mass in the trunk of biped robots b…
Body flexibility plays an important role in the bounding gait of quadruped animals. In a previous study, we investigated the effects of body flexibility on foot loading by comparing two different physical models, with and without a flexible body-joint. Testing both models with equal mechanical energ