Abstract
To achieve high-efficiency biped walking, we proposed a self-excited walking of biped mechanism and clarified the characteristics of the self-excited walking by the simulations and experiments. This paper presents a self-exciting walking of a biped mechanism whose stance leg knee is bending. From the simulations of self-excited walking with bending knee, we found that the walking priod becomes shorter than that of the straight knee mode, and that the walking speed become fast. Possibility of the self-excited walking with bending knee was actualized by the experiment.
