To compensate for the large angular momentum, both the torso yaw joint and the shoulder pitch joints swing. The shoulder pitch joints swing widely and rapidly because of the inertial moment of the arms in the yaw direction. Most of that upper-body movement is in the yaw direction.
Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase.
Duration: 0:16
Posted: Jun 10, 2019
Posted: Jun 10, 2019
A bipedal robot upperbody mechanism that resembles the human arm length and mass characteristics is also constructed. ...
Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase.
Jun 3, 2017 · Abstract— Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement ...
Humans utilize their torsos and arms when running to compensate for the angular momentum in the yaw direction generated by leg movement during the flight phase.
Jan 8, 2018 · Humans utilize their torsos and arms when running to compensate for the angular momentum in the yaw direction generated by leg movement during ...
Upper-Body Control and Mechanism of Humanoids to Compensate for Angular Momentum in the Yaw Direction Based on Human Running. Language: English; Authors ...
Jan 12, 2023 · This article presents a hybrid momentum compensation control method for torque-controlled biped robots to adapt to unknown disturbances during dynamic walking.