Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
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…
cs.RO2023
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…
cs.RO2022
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…