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- Title
Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body.
- Authors
Honjo, Toyoyuki; Nagano, Akinori; Luo, Zhi-Wei
- Abstract
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.
- Subjects
ROBOT control systems; DOUBLE pendulums; BIPEDALISM; ENERGY consumption; PARAMETER estimation; INVERTED pendulum (Control theory)
- Publication
Robotica, 2013, Vol 31, Issue 6, p875
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574713000088