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When a humanoid lifts a heavy object, or carries an object in a bag or a carriage, it needs to change the reference CoM(center of mass) and ZMP(Zero Moment Position) in order not to fall down. However, it is not natural to design a reference CoM and ZMP to lift or to carry an object every time. In this paper, objects held by a hand are considered as an augmented virtual link connected at the end of...
It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction between complex mechanical and control systems. To gain insight into that issue, a step-by-step approach is needed. In this study, as a first step to investigate three dimensional quadrupedal walking, we aim at establishing a...
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