Parametric excitation-based inverse bending gait generation
Robotica Volume 29
Page 831-841
published_at 2011
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| File | |
| Title ( eng ) |
Parametric excitation-based inverse bending gait generation
|
| Creator |
Asano Fumihiko
Taji Kouichi
Uno Yoji
|
| Source Title |
Robotica
|
| Volume | 29 |
| Start Page | 831 |
| End Page | 841 |
| 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.
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| Keywords |
Parametric excitation
Dynamic bipedal walking
Energy restoration
Forward bending
Inverse bending
|
| NDC |
Mechanical engineering [ 530 ]
|
| Language |
eng
|
| Resource Type | journal article |
| Publisher |
Cambridge University Press
|
| Date of Issued | 2011 |
| Rights |
(c) Cambridge University Press 2011
|
| Publish Type | Version of Record |
| Access Rights | open access |
| Source Identifier |
[ISSN] 0263-5747
[DOI] 10.1017/S026357471100004X
[NCID] AA12502023
[URI] http://journals.cambridge.org/abstract_S026357471100004X
[DOI] http://dx.doi.org/10.1017/S026357471100004X
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