Feasible speeds for two optimal periodic walking gaits of a planar biped robot
نویسندگان
چکیده
Abstract The purpose is to define the range of feasible speeds for two walking motions a particular planar biped robot, which differ in definition their finite-time double support phases. For each speed, these are numerically obtained by using parametric optimization algorithm, regarding sthenic criterion. Results allow us allowable walking. One result that first gait less consuming energy moderate fast velocity with respect second one, while more efficient low velocity.
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ژورنال
عنوان ژورنال: Robotica
سال: 2021
ISSN: ['1469-8668', '0263-5747']
DOI: https://doi.org/10.1017/s0263574721000631