An increasing biped robot development may be viewed in terms of realization of autonomous works in real world, where robot motion with lifting and/or carrying of heavy objects must be designed. Such motion control of biped robot working by himself is an important issues, in which many configurations and motions appear depending on position of robot and object. Isaka et al. analyzed the lifting motion of skilled lifter and mentioned that the configuration of lifting is important to realize the efficient lifting with small burden to the lower back. In their analysis the motion was limited for weight lift, and the object's position was fixed. So, it is required to analyze various human lifting motions in many situations for new biped robot control. Our study aims at realization of biped robot that can walk and lifting heavy objects. In this paper, dynamic characteristics of human lifting movement are analyzed through lifting of barbell in various situations. Furthermore, based on the lifting analysis, the comparison of motion control between lifting and jumping is discussed.
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