{"title":"极限环行走双足机器人的能量消耗分析","authors":"Sina Khodabakhsh, B. M. Fard, A. Bagheri","doi":"10.1109/ICROM.2018.8657529","DOIUrl":null,"url":null,"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.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Energy Consumption Analysis for the Limit Cycle Walking Biped Robots\",\"authors\":\"Sina Khodabakhsh, B. M. Fard, A. Bagheri\",\"doi\":\"10.1109/ICROM.2018.8657529\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":383818,\"journal\":{\"name\":\"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)\",\"volume\":\"52 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICROM.2018.8657529\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICROM.2018.8657529","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.