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inverse bending

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Parametric excitation-based inverse bending gait generation
Yuji Harata, Fumihiko Asano, Kouichi Taji, Yoji Uno
Journal:

Robotica / Volume 29 / Issue 6 / October 2011

Published online by Cambridge University Press:

10 February 2011, pp. 831-841
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In a gait generation method based on the parametric excitation principle, appropriate motion of the center of mass restores kinetic energy lost by heel strike. The motion is realized by bending and stretching a swing-leg regardless of bending direction. In this paper, we first show that inverse bending restores more mechanical energy than forward bending, and then propose a parametric excitation-based inverse bending gait for a kneed biped robot, which improves gait efficiency of parametric excitation walking.