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Parametric excitation-based inverse bending gait generation

Published online by Cambridge University Press:  10 February 2011

Yuji Harata,
Fumihiko Asano,
Kouichi Taji and
Yoji Uno
Yuji Harata*
Affiliation:
Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8527, Japan
Fumihiko Asano
Affiliation:
School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan. E-mail: fasano@jaist.ac.jp
Kouichi Taji
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa, Nagoya, Aichi, 464-8603, Japan. E-mail: taji@nuem.nagoya-u.ac.jp, uno@nuem.nagoya-u.ac.jp
Yoji Uno
Affiliation:
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa, Nagoya, Aichi, 464-8603, Japan. E-mail: taji@nuem.nagoya-u.ac.jp, uno@nuem.nagoya-u.ac.jp
*
*Corresponding author. E-mail: harata@hiroshima-u.ac.jp
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Summary

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In a gait generation method based on the parametric excitation principle, appropriate motion of the center of mass restores kinetic energy lost by heel strike. The motion is realized by bending and stretching a swing-leg regardless of bending direction. In this paper, we first show that inverse bending restores more mechanical energy than forward bending, and then propose a parametric excitation-based inverse bending gait for a kneed biped robot, which improves gait efficiency of parametric excitation walking.

Keywords

Parametric excitationDynamic bipedal walkingEnergy restorationForward bendingInverse bending

Information

Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011, pp. 831 - 841
Copyright
Copyright © Cambridge University Press 2011

References

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