Abstract Summary
In this study, a simple bipedal model with an upper body walks down on a gentle moving slope to clarify the effect of trunk swinging behaviors on gait on a moving slope via numerical simulation. Gaits with three types of trunk swinging behaviors, forward swinging (FS), backward swinging (BS), and non-swinging (NS), were simulated. FS required slightly larger kinetic energy and COM displacement. BS required slightly smaller kinetic energy and COM displacement. NS had middle characteristics of FS and BS. Therefore, suitable upper body behaviors should be adapted depend on the walking purpose.
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