Emergence and motion analysis of 3D quasi-passive dynamic walking by excitation of lateral rocking

• Published in: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2769 - 2774
• Main Authors: Nakanishi, D., Sueoka, Y., Sugimoto, Y., Ishikawa, M., Osuka, K., Sankai, Y.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2012
• Subjects: Dynamics; Equations; Humans; Legged locomotion; Mathematical model; Oscillators

Human is capable of adaptive and supple locomotion in the real world characterized by rapid changes, high uncertainly, and limited availability of information. In order to understand the human walking, this work was motivated by the concept of passive dynamic walking robots, which have no actuation...