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Published in:
Bridging the Robot Perception Gap with Mid-Level Vision Read chapter Read first chapter

2018 | OriginalPaper | Chapter

The Yoyo-Man

Authors : Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz

Published in: Robotics Research

Publisher: Springer International Publishing

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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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previous chapter Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts
next chapter Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain
Footnotes
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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Metadata
Title
The Yoyo-Man
Authors
Jean-Paul Laumond
Mehdi Benallegue
Justin Carpentier
Alain Berthoz
Copyright Year
2018
Book
Robotics Research

Print ISBN: 978-3-319-60915-7

Electronic ISBN: 978-3-319-60916-4

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-60916-4_13