Abstract
In this paper, we propose a novel method for fast limit cycle walking using active control of a wobbling mass. Limit cycle walkers achieving energy-efficient walking have been developed in the last decade. Many researchers have recently been studied methods for improving walking speed of limit cycle walkers. In human walking, humans swing their arms according to walking phases. We consider that this motion is an up-and-down motion for a mass and improves biped walking speed. We show that a biped robot with an upper body achieving fast limit cycle walking by the proposed method.
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