Parametric excitation-based inverse bending gait generation

Abstract

In a gait generation method based on the parametric excitation principle, appropriate motion of the center of mass restores kinetic energy lost by heel strike. The motion is realized by bending and stretching a swing-leg regardless of bending direction. In this paper, we first show that inverse bending restores more mechanical energy than forward bending, and then propose a parametric excitation-based inverse bending gait for a kneed biped robot, which improves gait efficiency of parametric excitation walking.

Deterministic Kinodynamic Planning with hardware demonstrations

“…The acrobot has an actuator on the knee and the robot can be controlled to swing up, which needs to increase mechanical energy. Harata et al [9] also shows the advantage of the inverse bending.…”

“…Harata et al [9] proposed inverse bending walking in which a knee was bent in inverse direction to human movement. Stick diagrams of the forward bending and the inverse bending are shown in Fig.…”

“…Instead, we have found the reference trajectory corresponding to inverse bending. One reason of this is that the energy restoration of inverse bending is larger than that of forward bending [9]. The parameters of the reference trajectory, shown in Fig.…”

“…Later, Harata et al [8] have found that bending and stretching a swing leg has the same effect of pumping a telescopic leg, and have proposed the parametric excitation walking for a kneed biped robot. Harata et al [9] have also proposed the parametric excitation based inverse bending walking in which the knee of swing leg is bent in inverse direction to human movement.…”

“…1, which has a servomotor at each knee joint and has no actuator at a hip joint. In parametric excitation walking proposed by Harata et al [8], [9], not only walking performance but also walking ability strongly depends on the design of reference trajectories for knee joint angles. Furthermore, the reference trajectories are assumed to start from the instance of heel strike, but the developed robot does not have a ground sensor.…”