Journal
ROBOTICA
Volume 40, Issue 2, Pages 377-402Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574721000631
Keywords
Walking gait; Finite-time double; Impact with foot flat; Toe impact; Heel impact
Categories
Ask authors/readers for more resources
The study aims to define the feasible speed range for two walking motions of a particular planar biped robot, revealing that the first gait is more energy-efficient at moderate to fast velocities, while the second gait is more efficient at low walking speeds. The results were obtained through numerical calculations and a parametric optimization algorithm.
The purpose is to define the range of feasible speeds for two walking motions for a particular planar biped robot, which differ in the definition of their finite-time double support phases. For each speed, these two walking motions are numerically obtained by using a parametric optimization algorithm, regarding a sthenic criterion. Results allow us to define the range of allowable speeds for each walking. One result is that the first gait is less consuming in energy for moderate to fast velocity with respect to the second one, while the second gait is more efficient for low walking velocity.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available