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

摘要

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.