Title :
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
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;
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
DOI :
10.1109/IROS.2009.5354724
