Energy Consumption Analysis for the Limit Cycle Walking Biped Robots

This paper describes an analysis of energy consumption in limit cycle bipedal walking. After modeling and simulating the biped robot, some important parameters of the robot have been chosen to evaluate the efficiency of walking, namely: torso angle of inclination, torso center of mass position, robot total mass, walking step size, walking speed, and actuators' inertia. The effect of the defined variables on energy consumption has been analyzed. Then, the variables have been classified according to the most effects on the robot energy consumption using Elementary Effects Method. The analysis shows that the most effective parameters for the energy consumption are walking step size, a robot walking speed, actuators' inertia, torso center of mass position, torso inclination angle and robot mass, respectively.