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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/8513

Title: Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation
Authors: Asano, Fumihiko
Luo, Zhi-Wei
Issue Date: 2008-12
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: IEEE Transactions on Robotics
Volume: 24
Number: 6
Start page: 1298
End page: 1301
DOI: 10.1109/TRO.2008.2006234
Abstract: 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.
Rights: Copyright (C) 2008 IEEE. Reprinted from IEEE Transactions on Robotics, 24(6), 2008, 1298-1301. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
URI: http://hdl.handle.net/10119/8513
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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