A study of CPG based walking utilizing swing of arms

In this paper, we propose CPG (central pattern generator) based walking utilizing swing of arms. This method is aiming the effective use of upper-body of the humanoid. In sense of CPG applications, CPG based pattern generation technique for lower-body was proposed by other researchers. So, we apply CPG technique to swing of arms. It can be expected that the utilization of arm swing provides good performance to yaw moment stability, and recovery from stumbling. The effectiveness of this method is confirmed as improvement of accuracy of straight walking