Takaya Isomichi

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1 Graduate School of Advanced Science and Engineering, Waseda University, Tokyo, Japan, 2 Japan Society for the Promotion of Science, Tokyo, Japan, 3 Waseda Institute for Advanced Study, Tokyo, Japan, 4 Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan, 5 Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan,(More)
Human running motion can be modeled using a spring-loaded inverted pendulum (SLIP), where the linear-spring-like motion of the standing leg is produced by the joint stiffness of the knee and ankle. To use running speed control in the SLIP model, we should only decide the landing placement of the leg. However, for using running speed control with a(More)
Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the joints of the leg behave like a torsion spring in the stance phase. In this paper, we describe the development of a joint mechanism that mimics the elastic characteristics of the joints of the stance leg. The knee was equipped with a(More)
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