Abstract
The Yoyo-Man project is a research action tending to explore the synergies of anthropomorphic locomotion. The seminal hypothesis is to consider the wheel as a plausible model of bipedal walking. In this paper we report on preliminary results developed along three perspectives combining biomechanics, neurophysiology and robotics. From a motion capture data basis of human walkers we first identify the center of mass (CoM) as a geometric center from which the motions of the feet are organized. Then we show how rimless wheels that model most passive walkers are better controlled when equipped with a stabilized mass on top of them. CoM and head play complementary roles that define what we call the Yoyo-Man.
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Notes
- 1.
The statement has to be nuanced: rotating engines exist at molecular scale and some insects are able to shape objects as spheres to move them.
- 2.
We did not find the exact translation of this word in English.
- 3.
In biomechanics, the pelvis center is considered as the root node from which the body segment tree is built.
- 4.
It is worth to mention at this stage that, due to the rolling of the foot on the ground, there is no zero velocity point which is fixed in the feet during the stance phase.
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Acknowledgements
We deeply thank Armel Crétual and Anne-Hélène Olivier from M2S lab, university of Rennes 2, France, for providing the database of captured walking motion.
The work is supported by the European Research Council (ERC) through the Actanthrope project (ERC-ADG 340050) and by the European project KOROIBOT FP7-ICT-2013-10/611909.
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Laumond, JP., Benallegue, M., Carpentier, J., Berthoz, A. (2018). The Yoyo-Man. In: Bicchi, A., Burgard, W. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 3. Springer, Cham. https://doi.org/10.1007/978-3-319-60916-4_13
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