Energy Consumption Analysis for the Limit Cycle Walking Biped Robots

Sina Khodabakhsh, B. M. Fard, A. Bagheri
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引用次数: 1

Abstract

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.
极限环行走双足机器人的能量消耗分析
本文对极限环双足行走的能量消耗进行了分析。通过对双足机器人的建模和仿真,选取了评价双足机器人行走效率的一些重要参数,即:躯干倾斜角、躯干质心位置、机器人总质量、行走步长、行走速度和作动器惯性。分析了所定义的变量对能耗的影响。然后,利用初等效应法对影响机器人能耗最大的变量进行分类。分析表明,最有效的能耗参数分别是行走步长、机器人行走速度、作动器惯量、躯干质心位置、躯干倾角和机器人质量。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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