Parametrically Excited Dynamic Bipedal Walking

摘要

This chapter described a novel method of generating a biped gait based on the principle of parametric excitation. We confirmed the validity of swing-leg actuation through numerical simulations. A high-speed and energy-efficient gait was easily accomplished by pumping the swing-leg mass. We confirmed that energy-efficiency can be improved by using elastic elements without changing the walking pattern. It is possible to achieve a minimum class of specific resistance by optimally adjusting mechanical impedances to satisfy maximum efficiency condition. The greatest contribution of our study was achieving energy-efficient and high-speed dynamic biped locomotion without having to take ZMP conditions into account. We hope that our approach will provide new concepts for the introduction of ZMP-free biped robots.