EFFECTS OF THE VERTICAL CoM MOTION ON ENERGY CONSUMPTION FOR WALKING HUMANOIDS

被引：0

作者：

Omran, S. ^{[1
]}

Sakka, S. ^{[2
]}

Aoustin, Y. ^{[1
]}

机构：

[1] Univ Nantes, Ecole Cent Nantes, LUNAM, IRCCyN,CNRS, 1 Rue Noe,BP 92101, F-44321 Nantes, France

[2] Univ Poitiers, IRCCyN, Poitiers, France

来源：

MOBILE SERVICE ROBOTICS | 2014年

关键词：

humanoid; dynamics; inverted pendulum; numerical resolution; energy consumption; CoM vertical displacement; walking;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes an analysis of the effect of vertical motion of the CoM during humanoid walking. The linear inverted pendulum (LIP) model is classically used to deal with humanoid balance during walking. The effects on energy consumption of the CoM height remaining constant for humanoid robots, or varying like human beings, are badly known and are studied here. Two approaches are introduced for the comparison: the LIP which offers the great advantage of analytical solving (i.e. fast and easy calculations), and a numerical solving of the IP dynamics, which allows varying the height of the center of mass during walking. The results are compared in a dynamics simulation of a 2D walking biped.

引用

页码：343 / +

页数：3