SIMULATION AND OPTIMIZATION OF GAIT FOR A BIPEDAL ROBOT

被引：5

作者：

CHANNON, PH

HOPKINS, SH

PHAM, DT

机构：

[1] Intelligent Systems Research Group, School of Electrical, Electronic and Systems Engineering, University of Wales College of Cardiff, Cardiff, Wales

来源：

MATHEMATICAL AND COMPUTER MODELLING | 1990年 / 14卷

关键词：

BIPEDAL ROBOT; WALKING MACHINE; GAIT OPTIMIZATION; DYNAMICS SIMULATION;

D O I：

10.1016/0895-7177(90)90227-E

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

The dynamics of a five link bipedal walking robot are analysed. A full model is derived for both single support (one-foot-on-the-ground) motion and impact of the swing foot with the ground. The problem of deriving energy optimal walking is considered and a simple method of optimisation proposed. Numerical results are obtained and the validity of the method discussed.

引用

页码：463 / 467

页数：5

共 11 条

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[2]

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[3]

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[4]

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[6]

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[8]

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[9]

Todd D. J., 1985, WALKING MACHINES INT

[10]

VELERSHTEIN RA, 1979, MECHANICS SOLIDS, V14, P24

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