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.
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This work was presented in part at the 25th International Symposium on Artificial Life and Robotics (Beppu, Oita, January 22-24, 2020).
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Toda, Y., Wang, Y. & Minami, M. A cause of natural arm-swing in bipedal walking. Artif Life Robotics 26, 76–83 (2021). https://doi.org/10.1007/s10015-020-00636-0
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DOI: https://doi.org/10.1007/s10015-020-00636-0