Gait optimization and energetics of ballistic walking for an underactuated biped with knees

被引：0
|
作者：
Jae-Sung Moon
Joonbum Bae
机构：
[1] Ulsan National Institute of Science and Technology,School of Mechanical and Nuclear Engineering
[2] Ulsan National Institute of Science and Technology,Department of Mechanical Engineering, and School of Mechanical and Nuclear Engineering
来源：
Nonlinear Dynamics | 2016年 / 85卷
关键词：
Ballistic walking; Passive dynamic walking; Gait optimization; Energetics; Natural dynamics; Biped with knees;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, we study gait optimization of ballistic walking in order to understand the natural dynamics of an underactuated biped with knees. We also propose applications for our understandings. Our optimization problem is solved by fixing energy levels, and then, we attempt to explain how optimal gaits are formed by examining the role of each joint in speeding up. In addition, we explain some natural characteristics of walking. Based on the results, we propose a new cost function to generate various walking gaits, including the optimum. Finally, we evaluate and discuss the energy efficiency of our ballistic walker and other bipedal walkers including humans.
引用
收藏
页码：1533 / 1546
页数：13
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