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The parametric excitation based gait generation method proposed by Asano et al. restores mechanical energy lost by heel-strike collisions. Harata et. al. applied this method to a kneed biped robot which is proper for the parametric excitation, and show that sustainable gait has been generated with only knee torque. A swing-leg of a kneed biped robot has similar mechanism to an acrobot, and many acrobots...
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