Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This paper observes and derives Zero Moment Point (ZMP) of the bipedal robot that equips the trunk embedding the viscoelastic joint and arms. In the physical experiment, ZMP oscillates in the lateral direction largely though it does not oscillate in the anteroposterior direction. The numerical analysis supports the results of the physical experiment, and it indicates that the robot will achieve the stable locomotion by human-like locomotion in which the arm and the other side of the leg swing ahead simultaneously, and each arm swings asymmetrically back and forth.
