Experimental study of a parametrically excited dynamic bipedal walker with counterweights

Author

Hayashi, Takeshi ; Asano, Fumihiko ; Luo, Zhi-wei ; Nagano, Akinori ; Kaneko, Kazuaki ; Kato, Atsuo

Author_Institution

Dept. of Comput. Sci. & Syst. Eng., Kobe Univ., Kobe, Japan

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

81

Lastpage

86

Abstract

This paper reports some interesting results on our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip-joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. Results of numerical analysis of the effect of the counterweights on the gait efficiency are also described.

Keywords

legged locomotion; counterweights; dynamic walking; free hip-joint; gait efficiency; mechanical energy restoration; parametrically excited dynamic bipedal walker; semicircular feet; telescopic legs; Equations; Hip; Intelligent robots; Leg; Legged locomotion; Mechanical energy; Modeling; Numerical analysis; Numerical simulation; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354724

Filename

5354724