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

  • Yuji Harata (a1), Fumihiko Asano (a2), Zhi-Wei Luo (a3), Kouichi Taji (a1) and Yoji Uno (a1)...

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.

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*Corresponding author. E-mail: y_harata@nuem.nagoya-u.ac.jp

References

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1.McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 9 (2), 6282 (1990).
2.Asano, F., Yamakita, M. and Furuta, K., “Virtual passive dynamic walking and energy-based control laws,” IEEE/RSJ International Conference on Intelligent Robotics and Systems, vol. 2 (2000), pp. 11491154.
3.Goswami, A., Espiau, B. and Keramane, A., “Limit cycles in a passive compass gait biped and passivity-mimicking control laws,” J. Autonom. Robots 4 (3), 273286 (1997).
4.Asano, F., Luo, Z. W. and Hyon, S., “Parametric excitation mechanisms for dynamic bipedal walking,” IEEE International Conference on Robotics and Automation (2005) pp. 611–617.
5.Asano, F., Hayashi, T., Luo, Z. W., Hirano, S. and Kato, A., “Parametric excitation approaches to efficient bipedal walking,” Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007) pp. 2210–2216.
6.Harata, Y., Asano, F., Luo, Z. W., Taji, K. and Uno, Y., “Biped gait generation based on parametric excitation by knee-joint actuation,” Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007) pp. 2198–2203.
7.Lavrovskii, E. K. and Formalskii, A. M., “Optimal control of the pumping and damping of swing,” J. Appl. Math. Mech. 57 (2), 311320 (1993).

Keywords

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

  • Yuji Harata (a1), Fumihiko Asano (a2), Zhi-Wei Luo (a3), Kouichi Taji (a1) and Yoji Uno (a1)...

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