Optimal Energy-effective Gait for Biped Robot

DOI

10.2991/iccsee.2013.615How to use a DOI?

Keywords

biped robot, optimization , energy-effective

Abstract

Although people’s legs are capable of a broad range of muscle-use and gait patterns, they generally prefer just two, walking and running. A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed. An energy-effective gait is designed by using piecewise torque method. Then, the robot model can exhibit a natural and reasonable walk on a level ground. The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot. And we also discover some walking rules maybe true through the results of optimization.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lipeng Yuan
AU  - Liming Yuan
AU  - Hongying Lu
PY  - 2013/03
DA  - 2013/03
TI  - Optimal Energy-effective Gait for Biped Robot
BT  - Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 2455
EP  - 2459
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.615
DO  - 10.2991/iccsee.2013.615
ID  - Yuan2013/03
ER  -