Yasuhiro Sugimoto

Manipulation of Center of Pressure for Bipedal Locomotion by Passive Twisting of Viscoelastic Trunk Joint and Asymmetrical Arm Swinging

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…