Parametric excitation based bipedal walking: Control method and optimization

Yuji Harata; Yoshihisa Banno; Kouichi Taji

doi:10.3934/naco.2011.1.171

Article Contents

2011, Volume 1, Issue 1: 171-190. Doi: 10.3934/naco.2011.1.171

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Parametric excitation based bipedal walking: Control method and optimization

1.
Division of Mechanical Systems and Applied Mechanics, Faculty of Engineering, Hiroshima University
2.
Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University

Received: August 2010

Revised: November 2010

Published: January 2011

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Abstract

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.

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Mathematics Subject Classification: Primary: 70E60; Secondary: 90C90.

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References

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