Effect of the swinging arm and consequent passive twisting of the human-like trunk mechanism for the upright walking

Abstract

Bipedal walking requires a whole body behavior including an upper body as well as a lower body. This study refers a human upper body for upright bipedal walking is constructed. We observe effects of passive twisting trunk by swinging arm on the locomotion. Simulation results show that the walking behavior, walking distance in this paper, is changed according to the amplitude of swinging arm, and well-tuned amplitude prevents fluctuation toward traveling direction.