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Recent litterature suggested a top-down organization of locomotion, with the head being the stable frame of reference and the gaze anticipating the future direction. The present paper provides detailed investigation into the spatial and temporal relationship among the gaze and each body segment during locomotion on a complex trajectory without visual cues or guidance. We established that gaze direction...
In previous researches, most of biped robots have walked with their knees bent. However, a human walks without bending his or her knees, which defines ldquonaturalrdquo gaits. This is one of the significant differences between human locomotion and biped robot locomotion. This paper proposes a method to generate natural locomotion trajectory without bending knees but based on using a 2-DOF model of...
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