Manipulation of Center of Pressure for Bipedal Locomotion by Passive Twisting of Viscoelastic Trunk Joint and Asymmetrical Arm Swinging
Takashi Takuma,Ibuki Hashimoto,Ryo Andachi,Yasuhiro Sugimoto,Shinya Aoi,Takashi Takuma,Ibuki Hashimoto,Ryo Andachi,Yasuhiro Sugimoto,Shinya Aoi
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 robot, this study investigates the effect of the upper body, which contains moving arms and a twisting t...
