Abstract
This paper reports some interesting results on our experimental case study of parametrically excited dynamic bipedal walking. We describe the detailed specifications of the final walking machine that has telescopic legs, semicircular feet, free hip-joint, and counterweights. The walker finally succeeded in sustaining stable dynamic walking on level ground in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. We also conducted numerical analysis to examine the change of gait descriptors with respect to the physical parameters, and the results show that the counterweights are effective for improvement of the gait efficiency.
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