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ID 34754
file
creator
Asano, Fumihiko
Taji, Kouichi
Uno, Yoji
subject
Parametric excitation
Dynamic bipedal walking
Energy restoration
Forward bending
Inverse bending
NDC
Mechanical engineering
abstract
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.
journal title
Robotica
volume
Volume 29
start page
831
end page
841
date of issued
2011
publisher
Cambridge University Press
issn
0263-5747
ncid
publisher doi
language
eng
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
(c) Cambridge University Press 2011
relation url
department
Graduate School of Engineering