A modified kneed biped real robot based on parametric excitation principle

Parametric excitation walking is one of the bipedal gait generation methods on level ground. This method was first applied to a biped robot with telescopic legs and later to a kneed biped robot. An experimental robot with telescopic legs was also developed and it was verified that the robot could walk more than eight steps by the parametric excitation walking. Recently, we have developed an experimental kneed biped robot and have shown the robot can walk more than fifteen steps stably in inverse bending fashion. But the robot has a deficiency in that the robot does not have a ground sensor and the robot is controlled only in open-loop fashion. In this paper, we modify and improve the robot by using a ground sensor and shock absorbing material to enable to control in closed-loop fashion and hence, to improve the gait performance. The experiments are performed and the walking performance of the robot is investigated. The experimental results are compared with the numerical results, and the validity of the numerical simulation is verified.