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 whose supporting leg's knee is straight and bending by the simulations and experiments. This paper presents walking characteristics of a self-exciting biped mechanism whose stance leg's knee is bending, focusing on the combination effect of the bent knee angle and configuration of feet and upper body mass. We examined the walking characteristics for a biped model whose upper body mass is attached to the front position of the hip. As a result, we found that the walking period decrease and the walking velocity can increase greatly by shifting the additional mass only slightly.
