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Parametric excitation based bipedal walking: Control method and optimization

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  • In parametric excitation walking, energy lost by a heel strike is restored by bending and stretching a swing leg, and then a sustainable gait is generated with only knee torque. In this paper, we first propose the method that combines the parametric excitation method for a swing leg with that for a support leg to improve gait efficiency. Next, we improve gait efficiency of the combined parametric excitation walking by the optimization method for reference trajectories. Numerical results show that the specific resistance of the combined method is reduced to about one tenth of those of the previous results. In addition, the results of multi-objective optimization method are presented by reformulating a single-objective optimization problem.
    Mathematics Subject Classification: Primary: 70E60; Secondary: 90C90.

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