2024-03-29T14:08:04Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00007730
2023-01-16T03:53:12Z
320:321:322
Biped Gaint Generation based on Parametric Excitation by Knee-joint Actuation
Harata, Yuji
Asano, Fumihiko
Luo, Zhi-Wei
Taji, Kouichi
Uno, Yoji
open access
Copyright © 2007 IEEE. Reprinted from (relevant publication info). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.
Restoring mechanical energy lost by heel-strike collisions is necessary for stable gaint 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 biped robot that has not only semicircular feet but also actuated knees. Though this robot has no actuator at the hip, knee actuators can sustain gait by parametric excitation. We first verify that an actuated knee can cause parametric excitation, and then show by computer simulation that the proposed biped robot can walk continuously with actuated knees only.
IEEE
2007
eng
journal article
VoR
http://hdl.handle.net/2237/9449
https://nagoya.repo.nii.ac.jp/records/7730
https://doi.org/10.1109/IROS.2007.4399337
978-1-4244-0912-9
International Conference on Intelligent Robots and Systems
2198
2203
https://nagoya.repo.nii.ac.jp/record/7730/files/taji.pdf
application/pdf
392.5 kB
2018-02-19