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Most of traditional biped walkers based on passive dynamic walking have arc feet and locked ankle joints. In this paper, we propose the method to substitute the arc feet with flat feet. We hypothesize that the shape of the arc feet corresponds to a circular roll-over shape (ROS), which is a shape of a trajectory of center of pressure in the shank-fixed frame. Firstly, we show that ankle joints driven...
Human walking emerges from synergy of whole body dynamics: not only legs, but also a torso, arms, and a head are compliantly connected with each other by antagonistic muscles. Although change of activation of a muscle affects whole body motion, such synergy is supposed to play a great role for realizing stable walking. This paper investigates synergistic 3D limit cycle walking of an anthropomorphic...
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