A biped robot utilizing a front-back asymmetric arm swing motion in level-ground walking

Abstract

In recent years, it has been expected that biped robots walk on level ground with an effective use of their physical structure. The present paper proposes a biped robot which utilizes a torque for holding its torso and for swinging its arm as a means to the walking. Our numerical simulation shows that this robot can walk efficiently on level ground over a wide range of speed.