Improving energy efficiency of bipedal walking using nonlinear compliant mechanisms

Energy efficiency in bipedal walking

A bipedal walking mode distinguishes even the earliest hominins from other apes and may have provided a crucial advantage. However, the selective pressure that originally drove the adaptation is unknown. Michael Sockol et al. now report that upright hominins would have enjoyed a saving in the energy required for locomotion and thus would have been able to forage extensively. The authors measure...

Compliant Joints Increase the Energy Efficiency of Bipedal Robot

Compliant Actuation for Biologically Inspired Bipedal Walking Robots

This thesis deals with compliant actuators and their use in energy efficient walking bipeds. Two types of actuators with adaptable compliance are discussed: PPAM (Pleated Pneumatic Artificial Muscles) and MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator). The PPAM is a design made to overcome shortcomings associated with the existing types of pneumatic ...

assessment of the efficiency of s.p.g.c refineries using network dea

data envelopment analysis (dea) is a powerful tool for measuring relative efficiency of organizational units referred to as decision making units (dmus). in most cases dmus have network structures with internal linking activities. traditional dea models, however, consider dmus as black boxes with no regard to their linking activities and therefore do not provide decision makers with the reasons...

Simulation of Bipedal Walking

A 3-dimensional computer model of sustained bipedal walking is presented. It is intended be used as a development tool for walking controllers. The direct dynamic simulation has 8 segments, 19 degrees of freedom and is driven by prescribed joint moment and stiffness trajectories. Limited feedback in the form of a proportional-derivative controller provides upper body stability and allows walkin...