Parametric Excitation Mechanisms for Dynamic Bipedal Walking
- Resource Type
- Conference
- Authors
- Asano, F.; Zhi-Wei Luo; Hyon, S.
- Source
- Proceedings of the 2005 IEEE International Conference on Robotics and Automation Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on. :609-615 2005
- Subject
- Robotics and Control Systems
Computing and Processing
Signal Processing and Analysis
Legged locomotion
Leg
Mechanical energy
Torso
Foot
Torque control
Adaptive systems
Biomedical engineering
Motion control
Numerical simulation
Biped walking
legged locomotion
mechanical energy
parametric excitation
gait generation
- Language
- ISSN
- 1050-4729
It is already clarified throughout studies of passive dynamic walking mechanisms that the common nec essary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation using telescopic leg actuation. We first introduce a simple walking model and a control law for the telescopic leg motion, and show the typical walking pattern by numerical simulations. We then analyze the gait performance by adjusting some control and physical parameters. In addition, some extensions of the mechanism and control applications are investigated.