On efficiency and optimality of asymmetric dynamic bipedal gait
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Generation of energy saving motion for biped walking robot through resonance-based control method
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Efficient parametric excitation walking with delayed feedback control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The instantaneous leg extension model of virtual slope walking
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Efficiency analysis of 2-period dynamic bipdal gaits
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Analysis of a biped powered walking model based on potential energy compensation
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Fuzzy SVM learning control system considering time properties of biped walking samples
Engineering Applications of Artificial Intelligence
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We clarified that the common necessary condition for generating a dynamic gait results from the requirement to restore mechanical energy through studies on passive dynamic walking mechanisms. This paper proposes a novel method of generating a dynamic gait that can be found in the mechanism of a swing inspired by the principle of parametric excitation using telescopic leg actuation. We first introduce a simple underactuated biped model with telescopic legs and semicircular feet and propose a law to control the telescopic leg motion. We found that a high-speed dynamic bipedal gait can easily be generated by only pumping the swing leg mass. We then conducted parametric studies by adjusting the control and physical parameters and determined how well the basic gait performed by introducing some performance indexes. Improvements in energy efficiency by using an elastic-element effect were also numerically investigated. Further, we theoretically proved that semicircular feet have a mechanism that decreases the energy dissipated by heel-strike collisions. We provide insights throughout this paper into how zero-moment-point-free robots can generate a novel biped gait.