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Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body

Published online by Cambridge University Press:  22 February 2013

Toyoyuki Honjo ,
Akinori Nagano  and
Zhi-Wei Luo
Toyoyuki Honjo*
Affiliation:
Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada, Kobe, Hyogo, 657-8501, Japan
Akinori Nagano
Affiliation:
Department of Computational Science, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada, Kobe, Hyogo, 657-8501, Japan
Zhi-Wei Luo
Affiliation:
Department of Computational Science, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada, Kobe, Hyogo, 657-8501, Japan
*
*Corresponding author. E-mail: carcharo-mack@cs11.cs.kobe-u.ac.jp
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Summary

Walking locomotion involves complex movement of total center of mass. Not only the lower body behavior but also the upper body behavior affects the walking characteristics. Therefore, in this paper we derive the principle of parametrically excited inverted double pendulum to consider both lower body and upper body dynamics. We propose one approach to utilize the upper body behavior of the robot for energy efficient bipedal locomotion. In addition, we analyze the property of parametrically excited inverted double pendulum.

Keywords

Dynamical bipedal walkingParametrically excited inverted pendulumUpper body control
Type
Articles
Information
Robotica , Volume 31 , Issue 6 , September 2013 , pp. 875 - 886
Copyright
Copyright © Cambridge University Press 2013 

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