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This paper reports some interesting results on our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip-joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation...
This paper studies efficiency and symmetry of ballistic gait. We introduce a compass-like biped model and propose a simple control law for generating the dynamic gait. The efficiency is then numerically analyzed and the optimality of mechanical energy restoration is discussed. It is also shown that perfectly ballistic gait by kick action achieves the highest walking speed and exhibits symmetric gait...
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