Kyushu Yoneda

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m This paper presents a new methodology for generating a straight legged walking pattern for a biped robot utilizing up-and-down motion of an upper body. Firstly, we define two new indexes, the Knee Stretch Index (KSI) and the Knee Torque Index (KTI), which indicate how efficiently the knee joints are utilized. Next, up-and-down motion of the upper body is(More)
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