Title :
Energy analysis during biped walking
Author :
Silva, Filipe M. ; Machado, J. A Tenreiro
Author_Institution :
Dept. of Mech. Eng., Aveiro Univ., Portugal
Abstract :
Describes the dynamic analysis of biped locomotion systems. A planar biped is modelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip height, hip ripple, hip offset, foot clearance and link lengths. Afterwards, three cost functions related to energy are proposed: absolute power, power dispersion and power lost. The aim is to understand the influence of these locomotion variables on the energy flow. The performance measures are discussed and the results compared with those observed in nature
Keywords :
energy conservation; legged locomotion; path planning; robot kinematics; absolute power; biped locomotion systems; biped walking; cost functions; energy analysis; energy efficiency; energy flow; foot clearance; hip height; hip offset; hip ripple; link lengths; performance measures; planar biped; power dispersion; power lost; step length; Biological system modeling; Cost function; Ground support; Hip; Humans; Leg; Legged locomotion; Mechanical engineering; Power system modeling; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769931
