Biped gait generation based on parametric excitation by knee-joint actuation

Abstract

Restoring mechanical energy lost by heel-strike collisions is necessary for stable gait generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a… (More)
DOI: 10.1109/IROS.2007.4399337

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