Volume 2, Issue 5, October 2014, Page: 93-99
A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle
Yoshihisa Banno, Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo, Chikusa, Nagoya, 464-8603, Japan
Kouichi Taji, Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo, Chikusa, Nagoya, 464-8603, Japan
Yuji Harata, Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, 739-8527, Japan
Kyohei Seta, Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furo, Chikusa, Nagoya, 464-8603, Japan
Received: Nov. 5, 2014;       Accepted: Nov. 15, 2014;       Published: Nov. 20, 2014
DOI: 10.11648/j.acis.20140205.14      View  3027      Downloads  166
Abstract
Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.
Keywords
Parametric Excitation, Biped Robot, Passive Dynamic Walking, Experimental Robot, Walking Demonstration
To cite this article
Yoshihisa Banno, Kouichi Taji, Yuji Harata, Kyohei Seta, A Modified Kneed Biped Real Robot Based on Parametric Excitation Principle, Automation, Control and Intelligent Systems. Vol. 2, No. 5, 2014, pp. 93-99. doi: 10.11648/j.acis.20140205.14
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