Analyses of biped walking posture by dynamical-evaluating index

Keli Shen, Xiang Li, Hongzhi Tian, Takayuki Matsuno, Mamoru Minami

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high.

Original languageEnglish
Pages (from-to)261-270
Number of pages10
JournalArtificial Life and Robotics
Issue number2
Publication statusPublished - Jun 1 2018


  • Bipedal walking
  • Humanoid
  • Visual-lifting approach

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence


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