A cause of natural arm-swing in bipedal walking
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ORIGINAL ARTICLE
A cause of natural arm‑swing in bipedal walking Yuichiro Toda1 · Ying Wang1 · Mamoru Minami1 Received: 23 March 2020 / Accepted: 27 August 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract The research of humanoid is widely discussed whether by simulations or real machines. In human bipedal walking, swinging arms in opposite directions is a natural movement. In this research, a model of the humanoid robot, including slipping, bumping, surface-contacting and point-contacting of the foot has been established, and its dynamical equation is derived by the Newton–Euler method. And the natural arm-swing simulation has been produced, which showed that the input torque in yaw rotation of the torso could cause natural arm-swing. “Natural” means that the arm-swinging motion is induced by coupling effects existing in nonlinear dynamics of humanoid robot even though no torques have been input into shoulders. Based on the results, a hypothesis that the vibration in the yaw rotation of the torso caused natural arm swing is proposed. In this paper, we compared the arm-swing movement with or without the input torque of yaw rotation of the torso by using the above humanoid robot model. The simulation data proved the hypothesis to be valid. Keywords Humanoid · Arm swing · Bipedal walking · Dynamical · Newton–Euler Method
1 Introduction Human beings are deemed to acquired the ability of stable bipedal walking in evolving repetitions so far. Our research has begun from the viewpoint of aiming to describe gait’s dynamics as correctly as possible, including point contacting state of foot, toe slipping of the foot and bumping [1, 2]. Based on [3], the dynamics of humanoid can be modelled as a serial-link manipulator, including constraint motion and slipping motion using the Extended Newton-Euler (NE) Method [4]. The NE method enables us to make a dynamical model of robots by repetitive calculation that is different from Lagrange method. And it is possible to calculate internal force and torque not generating real motion. It seems to be an advantage of the NE method that other methods do not have [5]. This merit can be applicable for propagations of constraint and impact force/torque when discussing humanoids walking based on strict dynamical models.
This work was presented in part at the 25th International Symposium on Artificial Life and Robotics (Beppu, Oita, January 22-24, 2020). * Yuichiro Toda ytoda@okayama‑u.ac.jp 1
In previous researches, a walking model of the humanoid robot, including slipping, bumping, surface contacting and point-contacting of the foot were discussed, having paved the way for original strategy of “Visual Lifting Approach” (VLA) [6–8] for generating continuous walking gaits. Since our discussions concerning humanoid’s walking have been based on simulations, we have to be careful for preciseness of the dynamical model used for simulations. So the authors have made efforts to confirm that the used dynamical model represents the humanoid’s motion correctl
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