2021年
A cause of natural arm-swing in bipedal walking.
Artif. Life Robotics
- ,
- ,
- 巻
- 26
- 号
- 1
- 開始ページ
- 76
- 終了ページ
- 83
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1007/s10015-020-00636-0
- 出版者・発行元
- SPRINGER
The research of humanoid is widely discussed whether by simulations or real machines. In human bipedal walking, swinging arms in opposite directions is a natural movement. In this research, a model of the humanoid robot, including slipping, bumping, surface-contacting and point-contacting of the foot has been established, and its dynamical equation is derived by the Newton-Euler method. And the natural arm-swing simulation has been produced, which showed that the input torque in yaw rotation of the torso could cause natural arm-swing. "Natural" means that the arm-swinging motion is induced by coupling effects existing in nonlinear dynamics of humanoid robot even though no torques have been input into shoulders. Based on the results, a hypothesis that the vibration in the yaw rotation of the torso caused natural arm swing is proposed. In this paper, we compared the arm-swing movement with or without the input torque of yaw rotation of the torso by using the above humanoid robot model. The simulation data proved the hypothesis to be valid.
- リンク情報
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- DOI
- https://doi.org/10.1007/s10015-020-00636-0
- DBLP
- https://dblp.uni-trier.de/rec/journals/alr/TodaWM21
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000571202600001&DestApp=WOS_CPL
- URL
- https://dblp.uni-trier.de/db/journals/alr/alr26.html#TodaWM21
- ID情報
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- DOI : 10.1007/s10015-020-00636-0
- ISSN : 1433-5298
- eISSN : 1614-7456
- DBLP ID : journals/alr/TodaWM21
- Web of Science ID : WOS:000571202600001