4 papers
Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Tomoya Kamimura, Haruka Washiyama, Akihito Sano
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomot…
Phase Relationship between Spinal Motion and Limb Support Determines High-speed Running Performance in a Cheetah Model with Asymmetric Spinal Stiffness
Tomoya Kamimura, Yuya Oshita, Mau Adachi +5
Cheetahs are characterized by large spinal flexion and extension during high-speed running, yet the dynamical role of the phase relationship between spinal motion and limb support…
Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations
Yusuke Sakurai, Tomoya Kamimura, Yuki Sakamoto +4
We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during r…
Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance
Tomoya Kamimura, Akihito Sano
We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the…