{"title":"考虑速度、效率和稳定性的被动动力双足机器人的最优质量分布","authors":"Yan Huang, Qining Wang, G. Xie, Long Wang","doi":"10.1109/ICHR.2008.4756006","DOIUrl":null,"url":null,"abstract":"This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the simplest walking model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by particle swarm optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"78 4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability\",\"authors\":\"Yan Huang, Qining Wang, G. Xie, Long Wang\",\"doi\":\"10.1109/ICHR.2008.4756006\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the simplest walking model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by particle swarm optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.\",\"PeriodicalId\":402020,\"journal\":{\"name\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"volume\":\"78 4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICHR.2008.4756006\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICHR.2008.4756006","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability
This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the simplest walking model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by particle swarm optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.
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