Arm swing effects on walking bipedal gaits composed of impact, single and double support phases

摘要

In human walking, it is often assumed that the arms have a passive movement which reduces the energy consumption of walking. The issue addressed in this work is the influence of the arms on the walking of a humanoid robot. The study has two objectives: to verify the effect of arms on a sthenic criterion during walking, and to determine whether the optimal movement of the arms is passive or not.