Abstract
Parametric excitation walking is one of methods that realize a passive dynamic like walking on level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method for the reference trajectory of parametric excitation walking. We apply the proposed method to a kneed biped robot, and optimize the reference trajectory of its swing leg.
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