Yoshito Ikemata

Learn More
Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is mechanically simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. In this paper, we focus on the mechanism of fixed point. We demonstrate(More)
In our earlier work, we showed that high stability of passive walking can be achieved by the global stabilization principle of fixed point. The principle has been established, providing that the state just after heel-strike exists at the next step. However, this condition may not always hold. The passive walker with knees can execute the leg-swing motion(More)
A passive walker with knees can walk down gentle slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is simple, it is a sort of hybrid system which combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. We focus on the mechanisms of generation and stabilization of a fixed point of(More)
The passive walker with knees can naturally execute the leg motion by the dynamics of legs under the gravity only. Circular arc foot is very important for the leg motion. In this paper, the dynamical effects of the arc foot, which can keep the knee joint of stance leg straight only by the stopper and can enhance the flexion of knee joint of swing leg, are(More)
Passive running robot can run down shallow slope with no energy source without gravity. The robot can generate a stable limit cycle. Dynamics of passive running is very interesting target and important for developing the robot and understanding the human locomotion. By the way, running high jumper can jump very high. The point of jumping is to transfer(More)
It is well known that passive walking robot can dynamically walk down with a steady gait by only powered gravity. The dynamics of passive walking has interesting characteristics of stability and bifurcation. Since passive gait is natural motion, investigation of passive walking may lead us to understand human locomotion and design for active walking robot.(More)
  • 1