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Experimental study of a parametrically excited dynamic bipedal walker with counterweights

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6 Author(s)
Takeshi Hayashi ; Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 657-8501, Japan ; Fumihiko Asano ; Zhi-Wei Luo ; Akinori Nagano
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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.

Published in:

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

10-15 Oct. 2009