Constant Pelvis Height ZMP-based Walking: A Study on Energy Consumption during Walking

被引：0

作者：

Amran, Aliza Che ^{[1
]}

Ali, Fariz ^{[1
]}

Kawamura, Atsuo ^{[1
]}

机构：

[1] Yokohama Natl Univ, Dept Elect & Comp Engn, Yokohama, Kanagawa, Japan

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

Biped robot; ZMP-based walking; energy consumption;

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：

Researchers introduced a constant center of mass walking, mainly to solve the ZMP equations analytically for center of mass trajectories in the x and y directions (case1). In this paper, case 2 proposes that if pelvis is made constant instead, energy usage could be reduced particularly at the leg joints. CoM-based kinematics methods are used to realize each case. Walking simulations of 0.22km/h are utilized for observations. In the simulation results, case 2 consumed almost 12% less in total energy consumption (electrical and mechanical) compared to case 1.

引用

页码：1718 / 1723

页数：6

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