Energy analysis during biped walking

Abstract

Abstract

Multi-Criteria Optimization Manipulator Trajectory Planning

“…The function O E a evaluates the average mechanical energy during the trajectory whereas is assumed that power regeneration is not available by motors doing negative work, that is, by taking the absolute value of the power (Silva & Tenreiro Machado, 1999). The index i specifies the total number of manipulator joints.…”

Development of a CORBA-based Humanoid Robot and its Applications

“…Some effort has been placed to analyze the effect of gait synthesis on consumed energy. In (Roussel et al, 1998) and (Silva et al, 1999) the minimum consumed energy gait synthesis during walking is treated. The body mass is considered concentrated on the hip of the biped robot (Roussel et al, 1998).…”

“…The body mass is considered concentrated on the hip of the biped robot (Roussel et al, 1998). In (Silva et al, 1999), the body link is restricted to the vertical position, the body forward velocity is considered to be constant and the tip motion of the swing leg is constrained to follow sinusoidal functions. The effect of the walking velocity and step length on the consumed energy is treated in (Channon et al, 1996).…”

Mathematical Modelling and Simulation of Combined Trajectory Paths of a Seven Link Biped Robot

“…Zarrugh and Radcliffe (1997) have considered a biped robot with respect to a walking pattern by recording human kinematic data while McGeer (1990) have focused on passive walking of a biped robot generated by gravitational and inertial components. Silva and Machado (1999) have focused on actuator power and energy by the adaptation of walking parameters. The stability of the robot is connected to the biped robot's tendency to tip over.…”