Fumihiko Asano

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SUMMARY Restoration of mechanical energy dissipating on impact at the ground is necessary for sustainable gait generation. Para-metric excitation is one approach to restore the mechanical energy. Asano et al. (" Parametric excitation mechanisms for dynamic bipedal walking, " IEEE International Conference on Robotics and Automation (2005) pp. 611–617.)(More)
— This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified in [3] that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect dramatically increases(More)