Yoshito Ikemata

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— 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)
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 lo-comotion and design for active walking robot.(More)
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