Abstract
Parametric excitation walking is one of methods to realize dynamic walking on a level ground. This method has been first applied to a biped robot with telescopic legs and later to a kneed biped robot. In parametric excitation walking, mechanical energy is increased by periodic up-and-down motion of the center of mass. While parametric excitation walking with telescopic legs has verified by a real robot, that with a kneed biped robot has not yet. The purpose of this paper is an experimental study of parametric excitation walking with a kneed biped robot. To do this, we develop a kneed biped robot having four parallel legs with semicircular feet and knee joints with motors. In the experiment, the robot can walk on a level ground more than 15 steps. We also measure the robot movements by a 3D motion capture and compare them with simulation results.
