Energy Analysis During Biped Walking
نویسندگان
چکیده
This paper describes the dynamic analysis of biped locomotion systems. A planar biped is inodelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip height, hip ripple, hip oflset, foot clearance and link lengths, Afterwards, three cost functions related to energy are proposed: absolute power, power dispersion andpower lost. The aim is to understand the injluence of these locomotion variables on the energy flow. The performance measures are discussed and the results compared with those observed in nature.
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