scholarly journals Parametric Excitation Walking of a Biped Robot Using Counter Weight(Mechanical Systems)

2010 ◽  
Vol 76 (768) ◽  
pp. 2117-2126 ◽  
Author(s):  
Takeshi HAYASHI ◽  
Fumihiko ASANO ◽  
Kazuaki KANEKO ◽  
Zhi-Wei LUO ◽  
Atsuo KATO
Keyword(s):  
Parametric Excitation ◽  
Mechanical Systems ◽  
Biped Robot

Frequency Sweeping With Concurrent Parametric Amplification

2008 ◽  
Author(s):  
Nicholas J. Miller ◽  
Steven W. Shaw
Keyword(s):  
Quality Factor ◽  
Parametric Excitation ◽  
Mechanical Systems ◽  
Parametric Amplification ◽  
Stability Conditions ◽  
Mass Sensor ◽  
Modal Interactions ◽  
Numerical Example ◽  
Mems Mass Sensor ◽  
Frequency Sweeping

In this paper we explore parametric amplification of multidegree of freedom mechanical systems. We consider frequency conditions for modal interactions and determine stability conditions for three important cases. We develop conditions under which it is possible to sweep with direct and parametric excitation to produce a sweep response with amplified effective quality factor of resonances encountered during the sweep. With this technique it is possible to improve the measurement of resonance locations in swept devices, such as those that operate on resonance shifting. A numerical example motivated by a MEMS mass sensor is given in support of the analysis.

Frequency Sweeping With Concurrent Parametric Amplification

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
Nicholas J. Miller ◽  
Steven W. Shaw
Keyword(s):  
Parametric Excitation ◽  
Mechanical Systems ◽  
Parametric Amplification ◽  
Stability Conditions ◽  
Mass Sensor ◽  
Frequency Range ◽  
Quality Factors ◽  
Modal Interactions ◽  
Electromechanical Systems ◽  
Frequency Sweeping

In this paper, we explore parametric amplification of multiple resonances in multidegree-of-freedom mechanical systems, and the use of frequency sweeping with a parametric pump to amplify several adjacent resonance peaks. We develop conditions under which it is possible to sweep with direct and parametric excitation to produce a sweep response with amplified effective quality factors for all resonances over a given frequency range. We determine gain and stability conditions and include analysis for potential problematic modal interactions. This technique makes it possible to improve the measurements of resonance locations in devices, for example, sensors that rely on tracking shifts in resonance peaks. The results are demonstrated on a model for a multi-analyte micro-electromechanical systems mass sensor.

Biped gait generation based on parametric excitation by knee-joint actuation

Robotica ◽  
2009 ◽  
Vol 27 (7) ◽  
pp. 1063-1073 ◽  
Author(s):  
Yuji Harata ◽  
Fumihiko Asano ◽  
Zhi-Wei Luo ◽  
Kouichi Taji ◽  
Yoji Uno
Keyword(s):  
Parametric Excitation ◽  
Mechanical Energy ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Reference Trajectory ◽  
Gait Generation ◽  
Total Mechanical Energy ◽  
Walking Performance ◽  
Excitation Mechanisms ◽  
Telescopic Legs

SUMMARYRestoration of mechanical energy dissipating on impact at the ground is necessary for sustainable gait generation. Parametric excitation is one approach to restore the mechanical energy. Asano et al. (“Parametric excitation mechanisms for dynamic bipedal walking,” IEEE International Conference on Robotics and Automation (2005) pp. 611–617.) applied parametric excitation to a biped robot with telescopic-legs, in which up-and-down motion restores total mechanical energy like playing on the swing. In this paper, parametric excitation principle is applied to a kneed biped robot with only knee actuation and it is shown that the robot walks successively without hip actuation. We also examine influences of several parameters and reference trajectory on walking performance.

scholarly journals Asymmetric Parametric Excitation Mechanism for Biped Robot

2012 ◽  
Vol 30 (2) ◽  
pp. 173-179 ◽  
Author(s):  
Takeshi Hayashi ◽  
Toyoyuki Honjo ◽  
Akinori Nagano ◽  
Zhi-Wei Luo
Keyword(s):  
Parametric Excitation ◽  
Biped Robot ◽  
Excitation Mechanism

scholarly journals Parametric excitation-based inverse bending gait generation

Robotica ◽  
2011 ◽  
Vol 29 (6) ◽  
pp. 831-841 ◽  
Author(s):  
Yuji Harata ◽  
Fumihiko Asano ◽  
Kouichi Taji ◽  
Yoji Uno
Keyword(s):  
Kinetic Energy ◽  
Parametric Excitation ◽  
Mechanical Energy ◽  
Center Of Mass ◽  
Biped Robot ◽  
Heel Strike ◽  
Gait Generation ◽  
Forward Bending

SUMMARYIn a gait generation method based on the parametric excitation principle, appropriate motion of the center of mass restores kinetic energy lost by heel strike. The motion is realized by bending and stretching a swing-leg regardless of bending direction. In this paper, we first show that inverse bending restores more mechanical energy than forward bending, and then propose a parametric excitation-based inverse bending gait for a kneed biped robot, which improves gait efficiency of parametric excitation walking.

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