Abstract
In this paper, we discuss the effect of upper body on the stability of passive dynamic running (PDR). To this end, we have modeled a passive dynamic running biped with upper body in a numerical simulator. Through our numerical simulations, we have found the following results: (i) Periodic stable solutions exist; (ii) The higher position of COM destabilizes PDR; and (iii) The inertia of upper body stabilizes PDR. Our results shed new light on the principles underlying bipedal locomotion; in particular to what extent of the stabilization mechanism can be explained by passive dynamics underlying whole body dynamics properties.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Paper Title
Journal
Date
