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Biped gait generation based on parametric excitation by knee-joint actuation

Published online by Cambridge University Press:  17 March 2009

Yuji Harata ,
Fumihiko Asano ,
Zhi-Wei Luo ,
Kouichi Taji  and
Yoji Uno
Yuji Harata*
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan
Fumihiko Asano
Affiliation:
School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan
Zhi-Wei Luo
Affiliation:
Department of Computer and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657-8501, Japan
Kouichi Taji
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan
Yoji Uno
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan
*
*Corresponding author. E-mail: y_harata@nuem.nagoya-u.ac.jp
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Summary

Restoration of mechanical energy dissipating on impact at the ground is necessary for sustainable gait generation. Parametric excitation is one approach to restore the mechanical energy. Asano et al. (“Parametric excitation mechanisms for dynamic bipedal walking,” IEEE International Conference on Robotics and Automation (2005) pp. 611–617.) applied parametric excitation to a biped robot with telescopic-legs, in which up-and-down motion restores total mechanical energy like playing on the swing. In this paper, parametric excitation principle is applied to a kneed biped robot with only knee actuation and it is shown that the robot walks successively without hip actuation. We also examine influences of several parameters and reference trajectory on walking performance.

Keywords

Biped gaitDynamic walkingParametric excitationEnergy restorationKnee-joint actuation
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1063 - 1073
Copyright
Copyright © Cambridge University Press 2009

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References

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