@Article{benallegue:ijrr:2020,
  author    = {Benallegue, Mehdi and Laumond, Jean-Paul and Berthoz, Alain},
  title     = {On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers},
  journal   = {The International Journal of Robotics Research},
  year      = {2020},
  volume    = {39},
  number    = {4},
  pages     = {461--475},
  month     = {March},
  doi       = {https://doi.org/10.1177/0278364919894387},
  url       = {https://journals.sagepub.com/doi/pdf/10.1177/0278364919894387},
  keywords  = {Humanoid robots, legged robots, biomimetics},
  abstract  = {During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on the body dynamics remains un-explored. In this study, we take profit from the similarities that human steady gait share with the locomotion of passive dynamics robots. We introduce a simplified anthropometric D model to reproduce a broad walking dynamics. In a previous study, we showed heuristically that the presence of a stabilized head-neck system significantly influences the dynamics of walking. This paper gives new insights that lead to understanding this mechanical e fect. In particular, we introduce an original cart upper-body model that allows to better understand the mechanical interest of head stabilization when walking, and we study how this e fect is sensitive to the choice of control parameters.},
  publisher = {Sage Publications Ltd},
  address   = {1 Olivers Yard, 55 City Road, London EC1Y 1SP, England}
}