Expert Demonstration Data: Integrating Martial Arts-Based 'Fumikomi' Impulsive Mechanics into Bipedal Locomotion Pipelines

[JJB886]

I am currently developing an optimized locomotion control framework for bipedal robots. This research integrates the biomechanical principles of Kendo’s "Fumikomi" with the Inverted Pendulum Model (IPM) to enhance Center of Mass (CoM) transition efficiency and instantaneous stability during multi-directional displacement.
​Technical Highlights:
​Impulsive Dynamic Mechanics: This approach moves beyond traditional smooth path-following by leveraging the Tonic Impulse characteristics of "Fumikomi." It achieves instantaneous CoM locking and mandatory force transfer. This logic ensures superior agility in dynamic transitions (allowing for variable speed) while maintaining precise displacement control.
​Core Characteristics & Technical Distinction: Please note that this research is fundamentally distinct from visual-centric trends like the "Slickback" gait. While "Slickback" prioritizes deceptive visual aesthetics, my approach focuses strictly on Head Stability and Torso Rigidity. By minimizing redundant vertical oscillations and displacement errors, we achieve high-intensity dynamic locking essential for robust robotic locomotion.
​Energy Efficiency & Dynamic Response: By refining explosive power output and Impedance Control logic, this algorithm addresses energy dissipation issues common in complex multi-directional movements, significantly improving both reaction speed and trajectory Robustness.
​Optimizing Beyond Biological Constraints (Digital Twin Integration): I am currently seeking to leverage Digital Twin technology for the acquisition and annotation of this gait logic. The core objective is to utilize Reinforcement Learning (RL) pipelines to optimize this model beyond human biological joint limitations, effectively bridging the Sim-to-Real gap and mitigating gait stiffness to achieve natural, high-performance locomotion.
​Demo & Validation:
​Video Demo: Link to Video

https://drive.google.com/file/d/1bAbTEC8NcyInUuuNDYZnWaqlijFcgP_W/view?usp=drivesdk

​Collaboration & Technical Exchange:
​I am currently in the data validation and simulation development phase. I am seeking opportunities to exchange insights with relevant research teams regarding the integration of this "Fumikomi-derived" gait logic into existing training frameworks. I am actively seeking partners or platforms to facilitate the digital twin-based acquisition of this gait data and would welcome the opportunity to discuss how this approach can enhance the locomotor performance of bipedal robots in complex environments.
​This is an experimental preliminary study. I would greatly appreciate any feedback or constructive criticism. Thank you!