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There are a lot of research that measure the oxygen uptake, dynamics and kinematics, etc when human walks on the treadmill. Especially in the splitbelt treadmill walking that the speed of the right and left belt is different, a remarkable difference is seen between normal and cerebellar disease subject in kinematics. In the present paper, the splitbelt treadmill walking, which is achieved by the cyclic...
A well-designed biped robot has its own natural dynamics suitable for efficient walking. Such natural dynamics was not considered in the conventional ZMP (zero moment point) based control method. In addition, ZMP based control method has the problems on autonomous adaptation. In this paper, we report on a biped robot: 'Tetsuro' designed with consideration of natural dynamics, and indicate inverted...
Many pieces of research have been done on biped robots so far. ASIMO, HRP2, QRIO and so on have been developed. The concern for them has generally become strong. Many biped robots have used the conventional control method based ZMP (zero moment point). A well-designed biped robot has its own natural dynamics suitable for efficient walking. Walking which makes good use of natural dynamics is not using...
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