Adjustable whole-body dynamics for adaptive locomotion: the influence of upper body movements and its interactions with the lower body parts on the stable locomotion of a simple bipedal robot. Issue 9 (11th September 2022)

• Record Type: Journal Article
• Authors: Ahmad, Huthaifa; Nakata, Yoshihiro; Nakamura, Yutaka; Ishiguro, Hiroshi
• Is Part Of: Robotica. Volume 40:Issue 9(2022)
• Page Start: 3340
• Page End: 3354
• Publication Date: 2022-09-11
• Subjects: actuator network system -- bipedal robot -- upper body -- morphological computation -- whole-body dynamics -- adaptive locomotion; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574722000212
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: This paper investigates the influence of adding an upper body to a bipedal robot on its stable walking behavior. The robot's parts are mutually interconnected through an actuator network system. Therefore, the movement pattern of the upper body depends on the type of interactions created with other limbs. Throughout the experiments, various interactions among the different body parts were tested. The results showed that a robot with a motionless upper body exhibited unstable walking behavior. However, once the same upper body was involved and interacted properly, with other body parts, its movement significantly helped to stabilize the behavior of the robot.