Parametric excitation-based inverse bending gait generation

  • Authors:

  • Yuji Harata;Fumihiko Asano;Kouichi Taji;Yoji Uno

  • Affiliations:

  • Division of mechanical systems and applied mechanics, faculty of engineering, hiroshima university, 1-4-1, kagamiyama, higashi-hiroshima, hiroshima, 739-8527, japan;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;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.n ...;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.n ...

  • Venue:
  • Robotica
  • Year:
  • 2011

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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.