Experimental Study of Dynamic Bipedal Walking Based on the Principle of Parametric Excitation with Counterweights

摘要

This paper reports some interesting results from our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. Results of numerical analysis on the effect of the counterweights on the gait efficiency are also described.