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Abstract(s)
This paper presents the energy analysis of a bipedal walking system. The main purpose is to gain insight into the movement stategies in walking and to search for the optimal locomotion variables that minimise a cost function related to energy. In order to accomplish this goal, three performance indices are proposed: mean absolute power, mean power dispersion and mean power lost. At the same time, the description of the movement is based on a set of locomotion variables, namely: step legth, hip height, hip ripple, hip offset, foot clearance and link lenghts. The simulation results show the influence of these variables in the energy flow. The performance measures are discussed and the results compared with those observed in human locomotion.
Description
Keywords
Dynamics Energy Performance analysis Trajectory planning Walking