Although peoples 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.
Optimal Energy-Effective Gait for Biped Robot
Applied Mechanics and Materials ; 347-350 ; 839-843
2013-08-08
5 pages
Article (Journal)
Electronic Resource
English
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