{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:16:58Z","timestamp":1761488218784},"reference-count":7,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2009,3,17]],"date-time":"2009-03-17T00:00:00Z","timestamp":1237248000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Restoration 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 <jats:italic>et al<\/jats:italic>. (\u201cParametric excitation mechanisms for dynamic bipedal walking,\u201d <jats:italic>IEEE International Conference on Robotics and Automation<\/jats:italic> (2005) pp. 611\u2013617.) 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.<\/jats:p>","DOI":"10.1017\/s0263574709005487","type":"journal-article","created":{"date-parts":[[2009,3,17]],"date-time":"2009-03-17T11:07:31Z","timestamp":1237288051000},"page":"1063-1073","source":"Crossref","is-referenced-by-count":25,"title":["Biped gait generation based on parametric excitation by knee-joint actuation"],"prefix":"10.1017","volume":"27","author":[{"given":"Yuji","family":"Harata","sequence":"first","affiliation":[]},{"given":"Fumihiko","family":"Asano","sequence":"additional","affiliation":[]},{"given":"Zhi-Wei","family":"Luo","sequence":"additional","affiliation":[]},{"given":"Kouichi","family":"Taji","sequence":"additional","affiliation":[]},{"given":"Yoji","family":"Uno","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,17]]},"reference":[{"key":"S0263574709005487_ref5","unstructured":"5. Asano F. , Hayashi T. , Luo Z. W. , Hirano S. and Kato A. , \u201cParametric excitation approaches to efficient bipedal walking,\u201d Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2007) pp. 2210\u20132216."},{"key":"S0263574709005487_ref2","first-page":"1149","article-title":"Virtual passive dynamic walking and energy-based control laws","volume":"2","author":"Asano","year":"2000","journal-title":"IEEE\/RSJ International Conference on Intelligent Robotics and Systems"},{"key":"S0263574709005487_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0263574709005487_ref6","unstructured":"6. Harata Y. , Asano F. , Luo Z. W. , Taji K. and Uno Y. , \u201cBiped gait generation based on parametric excitation by knee-joint actuation,\u201d Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2007) pp. 2198\u20132203."},{"key":"S0263574709005487_ref4","unstructured":"4. Asano F. , Luo Z. W. and Hyon S. , \u201cParametric excitation mechanisms for dynamic bipedal walking,\u201d IEEE International Conference on Robotics and Automation (2005) pp. 611\u2013617."},{"key":"S0263574709005487_ref3","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008844026298"},{"key":"S0263574709005487_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/0021-8928(93)90059-U"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709005487","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,29]],"date-time":"2019-04-29T21:55:34Z","timestamp":1556574934000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709005487\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,3,17]]},"references-count":7,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2009,12]]}},"alternative-id":["S0263574709005487"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709005487","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,3,17]]}}}