ISBN: 3902613165 9783902613165

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In this chapter, the trunk-twistless walk of contact sport athletes was described from a motion measurement and the trunk-twistless walk was analyzed by using the mathematical model. The proposed optimal relative phase of the swing leg and the pelvic rotation was applied to the walk of humanoid HRP-2. The walking action including the momentum compensation was completed only by the lower body, so that the upper body DOF can be used for accomplishing a task. Using the proposed walk, the stance foot torque and the energy consumption were both reduced. The future work includes an evaluation of the energy efficiency of the trunk-twistless walk, both in humanoids and human. An optimization program for an efficient walking pattern should be investigated. The authors wish to thank Kenji Shirae and Atsutoshi Ikeda of Nara Institute of Science and Technology for the data processing required for this research.