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

摘要

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