Yoshihisa Banno

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Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In(More)
In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Not only walking performance but also walking ability strongly depends on the reference trajectory of the center of mass. In this paper, we propose an optimization method for the reference trajectory, in which the(More)
Parametric excitation walking is one of methods to realize dynamic walking on a level ground. This method has first applied to a biped robot with telescopic legs and later to a robot with actuated knee joints. In parametric excitation walking, mechanical energy is increased by periodic up-and-down motion of the center of mass. While parametric excitation(More)
Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation(More)
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