Towards efficient biped robots

摘要

Presents the energy analysis of a bipedal walking system. The main goal is to understand the movement strategies in walking and to search for the optimal locomotion variables that minimise a cost function related to energy. Three different indices are proposed: mean absolute power, mean power dispersion and mean power lost. In order to accomplish this goal in the description and analysis of the motion we use a set of locomotion variables, namely: step length, hip height, hip ripple, hip offset, foot clearance and link lengths. Based on these variables and their influence on the energy flow, the performance measures are discussed and the results compared with those observed in nature.