DMCA
Body Stabilization of PDW toward Humanoid Walking
BibTeX
@MISC{Haruna_bodystabilization,
author = {Masaki Haruna and Masaki Ogino and Koh Hosoda and Minoru Asada},
title = {Body Stabilization of PDW toward Humanoid Walking},
year = {}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Passive Dynamic Walking is one of the key issues toward humanoid walking with less energy consumption. There is few past studies on PDW of a robot having the similar body as a human, that is, having both legs, arms and a torso. This is because the 3-D motions of the robot with the upper body is complicated. In this paper, a controller is proposed to reduce the body rotation around the trunk axis by swinging the arms. Consequently, the walking can be regarded as the one in the sagittal plane, which make it possible to utilize the existing studies on 2-D PDW. 1
