A two-dimensional passive dynamic runner with upper body

D. Owaki, S. Kubo, S. Yamaguchi, A. Ishiguro, A. Tero, H. M. Maus, C. Maufroy, A. Seyfarth

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). To this end, we have modeled a passive dynamic running biped with upper body in a numerical simulator. Through our numerical simulations, we have found the following results: (i) Periodic stable solutions exist; (ii) The higher position of COM destabilizes PDR; and (iii) The inertia of upper body stabilizes PDR. Our results shed new light on the principles underlying bipedal locomotion; in particular to what extent the stabilization mechanism can be explained by passive dynamics underlying whole body dynamics properties.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages622-630
Number of pages9
ISBN (Print)9789814327978
DOIs
Publication statusPublished - 2010
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: 2010 Aug 312010 Sep 3

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period10/8/3110/9/3

Keywords

  • COM position
  • Passive dynamic running
  • Trunk inertia
  • Upper body

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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