@inproceedings{e82c51ec97b94c88af108e693fc81517,
title = "A two-dimensional passive dynamic runner with upper body",
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 the stabilization mechanism can be explained by passive dynamics underlying whole body dynamics properties.",
author = "D. Owaki and S. Kubo and S. Yamaguchi and A. Ishiguro and A. Tero and Maus, {H. M.} and C. Maufroy and A. Seyfarth",
year = "2010",
month = jan,
day = "1",
doi = "10.1142/9789814329927_0077",
language = "English",
isbn = "9789814327978",
series = "Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010",
publisher = "World Scientific",
pages = "622--630",
editor = "Hideo Fujimoto and Tokhi, {Mohammad O.} and Hiromi Mochiyama and Virk, {Gurvinder S.}",
booktitle = "Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010",
address = "United States",
note = "13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 ; Conference date: 31-08-2010 Through 03-09-2010",
}