Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
Bipedal walking locomotion is one of the characteristics of human behavior. Not only the lower body behavior but also the upper body behavior affects the walking characteristics. In this paper, we studied the effect of two types of trunk swinging motion on gait. One is the forward swing motion based on the bisecting hip mechanism. Another is the backward swing motion based on the inverted double pendulum model. A numerical bipedal robot model with an upper body controlled by these methods walked down a slope. We evaluated the gait characteristics, walking speed, step length, and step time, during stable one step.
