5 accepted papers
Human jumping involves not only lower limbs but also whole-body coordination. During jumping, the effect of sinking the center of mass for recoil and arm swing are significant, and they can cause changes in the jump height. However, upper body movements during jumping movements of humanoid robots ha…
To improve the movement ability of humanoid robots, instead of traditional methods dependent on only power of actuators, there is possibility that utilizing elasticity inspired from collaboration of muscle and tendon of human is effective to achieve high-power movement. In this study, we aimed to re…
Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. T…
Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, w…
Human running motion can be modeled using a spring-loaded inverted pendulum (SLIP), where the linear-spring-like motion of the standing leg is produced by the joint stiffness of the knee and ankle. To use running speed control in the SLIP model, we should only decide the landing placement of the leg…