Energy analysis during biped walking

Silva, Filipe M.; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13606

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Autores

Silva, Filipe M.

Tenreiro Machado, J. A.

Resumo(s)

This paper describes the dynamic analysis of biped locomotion systems. A planar biped is modelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip heiht, hip ripple, hip offset, foot clearance and link lengths. Afterwards, three cost functions related to energy are proposed: absolute power, power dispersion and power lost. The aim is to understand the influence of these locomotion variables on the energy flow. The performance measure are discussed and the results compared with those observed in nature.

Palavras-chave

Energy conservation Legged locomotion Robot kinematics Path planning

URI

http://hdl.handle.net/10400.22/13606

Editora

Institute of Electrical and Electronics Engineers

DOI

10.1109/ROBOT.1999.769931

Coleções

ISEP – DEE – Comunicações em eventos científicos

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