Asymmetric Parametric Excitation Mechanism for Biped Robot

This research proposes a Asymmetry Parametric Excitation for a Biped Robot. In our research, we succeeded in developing an experimental parametric excited walking robot with counter weights and achieved the improvement of energy efficiency. However, the mechanism of this improvement has not been clarified. In this paper, we clarify the relation between the equipment of counter weights and the improvement of energy efficiency. It is found that counter weights create the asymmetry of the center of mass while the robot's posture during the double support phase is symmetric. This asymmetry contributes to the efficiency of restoring mechanical energy based on parametric excitation of the inverted pendulum. Therefore, a biped robot with counter weights can improve walking speed, step length, restored mechanical energy and walking energy efficiency.