IEEE Robotics & Automation Magazine - June 2013 - 81

[4] Y. Ogura, T. Kataoka, H. Aikawa, K. Shimomura, H. Lim, and A. Takanishi, "Evaluation of various walking patterns of biped humanoid robot," in
Proc. IEEE/RSJ Int. Conf. Robotics Automation, 2005, pp. 603-608.
[5] R. Kurazume, S. Tanaka, M. Yamashita, T. Hasegawa, and K. Yoneda,
"Straight legged walking of a biped robot," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, 2005, pp. 337-343.
[6] M. Garcia, A. Chatterjee, and A. Ruina, "Speed, efficiency, and stability of
small-slope 2D passive dynamic bipedal walking," in Proc. IEEE/RSJ Int. Conf.
Robotics Automation, 1998, vol. 3, pp. 2351-2356.
[7] T. McGeer, "Passive walking with knees," in Proc. IEEE/RSJ Int. Conf.
Robotics Automation, 1990, pp. 1640-1645.
[8] T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 3,
pp. 62-82, 1990.
[9] J. Pratt and P. Gill, "Exploiting natural dynamics in the control of a 3D
bipedal walking simulation," in Proc. 2nd Int. Conf. Climbing Walking
Robots, 1999.
[10] S. H. Collins and A. Ruina, "A bipedal walking robot with efficient and
human-like gait," in Proc. IEEE/RSJ Int. Conf. Robotics Automation, 2005, pp.
1983-1988.
[11] S. H. Collins, A. K. Ruina, R. Tedrake, and M. Wisse, "Efficient bipedal

[22] J. Or and A. Takanishi, "From lamprey to humanoid: The design and control of a flexible spine belly dancing humanoid robot with inspiration from
biology," Int. J. Human. Robot, vol. 2, no. 1, pp. 81-104, 2005.
[23] J. Or and A. Takanishi, "Effect of a flexible spine emotional belly dancing
robot on human perceptions," Int. J. Human. Robot, vol. 4, no. 1, pp. 21-48, 2007.
[24] J. Or, "The development of emotional flexible spine humanoid robots," in
Affective Computing, Emotion Expression, Synthesis and Recognition, J. Or,
Ed. Vienna: Advanced Robotics Systems, 2008, pp. 133-156.
[25] J. Or, "Towards the development of emotional dancing humanoid robots,"
Int. J. Social Robot., vol. 1, no. 4, pp. 367-382, 2009.
[26] J. Or and A. Takanishi, "A biologically inspired CPG-ZMP control system
for the real-time balance of a single-legged belly dancing robot," in Proc. IEEE/
RSJ Int. Conf. Intelligent Robots Systems, 2004, vol. 1, pp. 931-936.
[27] J. Or, "A hybrid CPG-ZMP controller for the real-time balance of a simulated flexible spine humanoid robot," IEEE Trans. Syst., Man, Cybern. C,
vol. 39, no. 5, pp. 547-561, 2009.
[28] J. Or, "A hybrid CPG-ZMP control system for the walking of a simulated
flexible spine humanoid robot," Neural Netw., vol. 23, no. 3, pp. 452-460, 2010.
[29] Webots. Commercial mobile robot simulation software [Online]. Available:
http://www.cyberbotics.com.

robots based on passive-dynamic walkers," Science, vol. 307, no. 5712,
pp. 1082-1085, 2005.
[12] I. Mizuuchi, R. Tajima, T. Yoshikai, D. Sato, K. Nagashima, M. Inaba,
Y. Kuniyoshi, and H. Inoue, "The design and control of the flexible spine of a
fully tendon-driven humanoid 'Kenta'," in Proc. IEEE/RSJ Int. Conf. Intelligent
Robots Systems, 2002, vol. 3, pp. 2527-2532.
[13] I. Mizuuchi, H. Waita, Y. Nakanishi, T. Yoshikai, M. Inaha, and H. Inoue,
"A musculo-skeletal robot leg capable of adding or rearranging the muscles,"
in Proc. 21st Annu. Conf. Robotics Society of Japan, Robotics Society of Japan,
Tokyo, Japan, 2003 [CD-ROM].
[14] I. Mizuuchi, T. Yoshiaki, Y. Sodeyama, Y. Nakanishi, A. Miyadera, T.
Yamamoto, T. Niemela, M. Hayashi, J. Urata, Y. Namiki, T. Nishino, and M.
Inaba, "Development of musculoskeletal humanoid Kotaro," in Proc. IEEE/RSJ
Int. Conf. Robotics Automation, 2006, pp. 82-87.
[15] I. Mizuuchi, Y. Nakanishi, Y. Sodeyama, Y. Namiki, T. Nishino, N. Muramatsu, J. Urata, K. Hongo, T. Yoshikai, and M. Inaba, "An advanced musculoskeletal humanoid Kojiro," in Proc. 2007 IEEE-RAS Int. Conf. Humanoid
Robotics, 2007, pp. 101-106.
[16] Y. Nakanishi, Y. Namiki, K. Hongo, J. Urata, I. Mizuuchi, and M. Inaba,
"Realization of large joint movement while standing by a musculoskeletal
humanoid using its spine and legs coordinately," in Proc. IEEE/ RSJ Int. Conf.
Intelligent Robots Systems, 2008, pp. 205-210.
[17] O. Holland and R. Knight. (2006). The anthropomimetic principle. Proc.
AISB06 Symp. Biologically Inspired Robotics [Online]. Available: http://cswww.
essex.ac.uk/staff/owen/documents/aisbcopyright.pdf
[18] L. Roos, F. Guenter, A. Guignard, and A. Billard, "Design of a biomimetic
spine for the humanoid robot Robota," in Proc. 1st IEEE/RAS-EMBS Int. Conf.
Biomedical Robotics and Biomechatronics, 2006, pp. 329-334.
[19] H. Iwata and S. Sugano, "Design of human symbiotic robot Twendy- One,"
in Proc. IEEE/RSJ Int. Conf. Robotics Automation, 2009, pp. 3294-3300.
[20] C. Ott, O. Elberger, W. Friedl, B. B€auml, U. Hillenbrand, C. Borst,
A. Albu-Sch€affer, B. Brunner, H. Hirschm€uller, S. Klelh€ofer, R. Konietschke, M. Suppa, T. Wimb€ock, F. Zacharias, and G. Hirzinger, "A humanoid two-arm system for dexterous manipulation," in Proc. IEEE-RAS Int. Conf.
Humanoid Robots, 2006, pp. 276-283.
[21] J. Or, "A control system for a flexible spine belly dancing humanoid,"
Artif. Life, vol. 6, no. 1, pp. 327-351, 2006.

[30] Y. Ogura, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, H. Lim,
and A. Takanishi, "Development of a new humanoid robot * IEEE Robotics &
Automation Magazine * 11 WABIAN-2," in Proc. IEEE/RSJ Int. Conf. Robotics
Automation, 2006, pp. 76-81.
[31] M. Syczewska, T. Oberg, and D. Karlsson, "Segmental movements of the
spine during treadmill walking with normal speed," Clin. Biomech., vol. 14,
no. 6, pp. 384-388, 1999.
[32] S. Nadeau, B. Amblard, S. Measure, and D. Bourbonnais, "Head and
trunk stabilization strategies during forward and backward walking in healthy
adults," Gait Posture, vol. 18, no. 3, pp. 134-142, 2003.
[33] J. Or. (2010). Online supplements [Online]. Available: http:// www.flexiblespinehumanoid.com.
[34] A. Takanishi, T. Takeya, H. Karaki, and I. Kato, "A control method for
dynamic biped walking under unknown external force," in Proc. IEEE/RSJ Int.
Conf. Intelligent Robots Systems, 1990, pp. 795-801.
[35] A. Takanishi, "Biped walking robot compensating moment by trunk
motion," J. Robot. Mechatronics, vol. 5, no. 6, pp. 505-510, 1993.
[36] C. Frigo, R. Carabalona, M. Dalla, and S. Negrini, "The upper body segmental movements during walking by young females," Clin. Biomech., vol. 18,
no. 5, pp. 419-425, 2003.
[37] R. J. Konz, S. Fatone, R. Stine, A. Ganju, S. Gard, and S. Ondra, "A kinematic model to access spinal motion during walking," Spine, vol. 31, no. 24,
pp. E898-E906, 2006.
[38] G. Zhao, L. Ren, L. Q. Ren, J. R. Hutchinson, L. M. Tian, and J. S. Dai,
"Segmental kinematic coupling of the human spinal column during locomotion," J. Bionic Eng., vol. 5, no. 4, pp. 328-334, 2008.
[39] V. T. Inman, J. B. Saunders, and H. Eberhart, "The major determinants in
normal and pathological gait," J. Bone Joint Surg. Amer. A vol. 35, no. 3,
pp. 543-558, 1953.
[40] A. D. Kuo, "The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective," Hum. Movement Sci., vol. 26, no. 40,
pp. 617-656, 2007.

Jimmy Or, Faculty of Science and Engineering, University of
Nottingham, Ningbo, China. E-mail: drjimmyor@yahoo.ca.

june 2013

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

81


http://www.cyberbotics.com http://http:// http://www.flexi http://www.blespinehumanoid.com http://cswww http://essex.ac.uk/staff/owen/documents/aisbcopyright.pdf

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2013

IEEE Robotics & Automation Magazine - June 2013 - Cover1
IEEE Robotics & Automation Magazine - June 2013 - Cover2
IEEE Robotics & Automation Magazine - June 2013 - 1
IEEE Robotics & Automation Magazine - June 2013 - 2
IEEE Robotics & Automation Magazine - June 2013 - 3
IEEE Robotics & Automation Magazine - June 2013 - 4
IEEE Robotics & Automation Magazine - June 2013 - 5
IEEE Robotics & Automation Magazine - June 2013 - 6
IEEE Robotics & Automation Magazine - June 2013 - 7
IEEE Robotics & Automation Magazine - June 2013 - 8
IEEE Robotics & Automation Magazine - June 2013 - 9
IEEE Robotics & Automation Magazine - June 2013 - 10
IEEE Robotics & Automation Magazine - June 2013 - 11
IEEE Robotics & Automation Magazine - June 2013 - 12
IEEE Robotics & Automation Magazine - June 2013 - 13
IEEE Robotics & Automation Magazine - June 2013 - 14
IEEE Robotics & Automation Magazine - June 2013 - 15
IEEE Robotics & Automation Magazine - June 2013 - 16
IEEE Robotics & Automation Magazine - June 2013 - 17
IEEE Robotics & Automation Magazine - June 2013 - 18
IEEE Robotics & Automation Magazine - June 2013 - 19
IEEE Robotics & Automation Magazine - June 2013 - 20
IEEE Robotics & Automation Magazine - June 2013 - 21
IEEE Robotics & Automation Magazine - June 2013 - 22
IEEE Robotics & Automation Magazine - June 2013 - 23
IEEE Robotics & Automation Magazine - June 2013 - 24
IEEE Robotics & Automation Magazine - June 2013 - 25
IEEE Robotics & Automation Magazine - June 2013 - 26
IEEE Robotics & Automation Magazine - June 2013 - 27
IEEE Robotics & Automation Magazine - June 2013 - 28
IEEE Robotics & Automation Magazine - June 2013 - 29
IEEE Robotics & Automation Magazine - June 2013 - 30
IEEE Robotics & Automation Magazine - June 2013 - 31
IEEE Robotics & Automation Magazine - June 2013 - 32
IEEE Robotics & Automation Magazine - June 2013 - 33
IEEE Robotics & Automation Magazine - June 2013 - 34
IEEE Robotics & Automation Magazine - June 2013 - 35
IEEE Robotics & Automation Magazine - June 2013 - 36
IEEE Robotics & Automation Magazine - June 2013 - 37
IEEE Robotics & Automation Magazine - June 2013 - 38
IEEE Robotics & Automation Magazine - June 2013 - 39
IEEE Robotics & Automation Magazine - June 2013 - 40
IEEE Robotics & Automation Magazine - June 2013 - 41
IEEE Robotics & Automation Magazine - June 2013 - 42
IEEE Robotics & Automation Magazine - June 2013 - 43
IEEE Robotics & Automation Magazine - June 2013 - 44
IEEE Robotics & Automation Magazine - June 2013 - 45
IEEE Robotics & Automation Magazine - June 2013 - 46
IEEE Robotics & Automation Magazine - June 2013 - 47
IEEE Robotics & Automation Magazine - June 2013 - 48
IEEE Robotics & Automation Magazine - June 2013 - 49
IEEE Robotics & Automation Magazine - June 2013 - 50
IEEE Robotics & Automation Magazine - June 2013 - 51
IEEE Robotics & Automation Magazine - June 2013 - 52
IEEE Robotics & Automation Magazine - June 2013 - 53
IEEE Robotics & Automation Magazine - June 2013 - 54
IEEE Robotics & Automation Magazine - June 2013 - 55
IEEE Robotics & Automation Magazine - June 2013 - 56
IEEE Robotics & Automation Magazine - June 2013 - 57
IEEE Robotics & Automation Magazine - June 2013 - 58
IEEE Robotics & Automation Magazine - June 2013 - 59
IEEE Robotics & Automation Magazine - June 2013 - 60
IEEE Robotics & Automation Magazine - June 2013 - 61
IEEE Robotics & Automation Magazine - June 2013 - 62
IEEE Robotics & Automation Magazine - June 2013 - 63
IEEE Robotics & Automation Magazine - June 2013 - 64
IEEE Robotics & Automation Magazine - June 2013 - 65
IEEE Robotics & Automation Magazine - June 2013 - 66
IEEE Robotics & Automation Magazine - June 2013 - 67
IEEE Robotics & Automation Magazine - June 2013 - 68
IEEE Robotics & Automation Magazine - June 2013 - 69
IEEE Robotics & Automation Magazine - June 2013 - 70
IEEE Robotics & Automation Magazine - June 2013 - 71
IEEE Robotics & Automation Magazine - June 2013 - 72
IEEE Robotics & Automation Magazine - June 2013 - 73
IEEE Robotics & Automation Magazine - June 2013 - 74
IEEE Robotics & Automation Magazine - June 2013 - 75
IEEE Robotics & Automation Magazine - June 2013 - 76
IEEE Robotics & Automation Magazine - June 2013 - 77
IEEE Robotics & Automation Magazine - June 2013 - 78
IEEE Robotics & Automation Magazine - June 2013 - 79
IEEE Robotics & Automation Magazine - June 2013 - 80
IEEE Robotics & Automation Magazine - June 2013 - 81
IEEE Robotics & Automation Magazine - June 2013 - 82
IEEE Robotics & Automation Magazine - June 2013 - 83
IEEE Robotics & Automation Magazine - June 2013 - 84
IEEE Robotics & Automation Magazine - June 2013 - 85
IEEE Robotics & Automation Magazine - June 2013 - 86
IEEE Robotics & Automation Magazine - June 2013 - 87
IEEE Robotics & Automation Magazine - June 2013 - 88
IEEE Robotics & Automation Magazine - June 2013 - 89
IEEE Robotics & Automation Magazine - June 2013 - 90
IEEE Robotics & Automation Magazine - June 2013 - 91
IEEE Robotics & Automation Magazine - June 2013 - 92
IEEE Robotics & Automation Magazine - June 2013 - 93
IEEE Robotics & Automation Magazine - June 2013 - 94
IEEE Robotics & Automation Magazine - June 2013 - 95
IEEE Robotics & Automation Magazine - June 2013 - 96
IEEE Robotics & Automation Magazine - June 2013 - 97
IEEE Robotics & Automation Magazine - June 2013 - 98
IEEE Robotics & Automation Magazine - June 2013 - 99
IEEE Robotics & Automation Magazine - June 2013 - 100
IEEE Robotics & Automation Magazine - June 2013 - 101
IEEE Robotics & Automation Magazine - June 2013 - 102
IEEE Robotics & Automation Magazine - June 2013 - 103
IEEE Robotics & Automation Magazine - June 2013 - 104
IEEE Robotics & Automation Magazine - June 2013 - 105
IEEE Robotics & Automation Magazine - June 2013 - 106
IEEE Robotics & Automation Magazine - June 2013 - 107
IEEE Robotics & Automation Magazine - June 2013 - 108
IEEE Robotics & Automation Magazine - June 2013 - 109
IEEE Robotics & Automation Magazine - June 2013 - 110
IEEE Robotics & Automation Magazine - June 2013 - 111
IEEE Robotics & Automation Magazine - June 2013 - 112
IEEE Robotics & Automation Magazine - June 2013 - 113
IEEE Robotics & Automation Magazine - June 2013 - 114
IEEE Robotics & Automation Magazine - June 2013 - 115
IEEE Robotics & Automation Magazine - June 2013 - 116
IEEE Robotics & Automation Magazine - June 2013 - 117
IEEE Robotics & Automation Magazine - June 2013 - 118
IEEE Robotics & Automation Magazine - June 2013 - 119
IEEE Robotics & Automation Magazine - June 2013 - 120
IEEE Robotics & Automation Magazine - June 2013 - 121
IEEE Robotics & Automation Magazine - June 2013 - 122
IEEE Robotics & Automation Magazine - June 2013 - 123
IEEE Robotics & Automation Magazine - June 2013 - 124
IEEE Robotics & Automation Magazine - June 2013 - 125
IEEE Robotics & Automation Magazine - June 2013 - 126
IEEE Robotics & Automation Magazine - June 2013 - 127
IEEE Robotics & Automation Magazine - June 2013 - 128
IEEE Robotics & Automation Magazine - June 2013 - Cover3
IEEE Robotics & Automation Magazine - June 2013 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com