期刊
ROBOTICA
卷 40, 期 2, 页码 377-402出版社
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574721000631
关键词
Walking gait; Finite-time double; Impact with foot flat; Toe impact; Heel impact
类别
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据