Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 323
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Basis and Evolution of Passive Dynamic Locomotion
Enhancing the Stability of Passive Dynamic Runner by Exploiting the Upper Body
*Dai Owaki, Shota Kubo, Shin'ichi Yamaguchi, Atsushi Tero, Moritz Maus, Christophe Maufroy, Andre Seyfarth, Akio Ishiguro
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Keywords: Passive Dynamic Running, Upper Body, CoM position, Trunk inertia, Stabilization Mechanism
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Abstract
In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). 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. Moreover, we discuss about the postural stabilization mechanism underlying PDR with an upper body, focusing on roly-poly toy.
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© 2010 JSME
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