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This paper describes a control strategy for throwing motion of the springed Pendubot based on the concept of unstable zero dynamics. An underactuated two-link planar robot called the Pendubot is investigated to realize dexterous actions of the superior limb in human throwing motion. A torsion spring is mounted on the passive joint of the Pendubot representing the flexibility of the cubital joint....
In the paper, we consider stability of three dimensional passive dynamic walking for various length of leg, CoM position and foot inclination, etc, through experiment. As a result, we realized stable walking by adjusting balance position so as to adjust position of center of total mass which is varying with respect to leg length. We also found that there is a tendency for a biped to walk well if CoM...
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