Trajectory generation of biped running robot with minimum energy consumption
Trajectory generation of biped running robot with minimum energy consumption
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DOI：
10.1109/robot.2004.1308861
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发表时间：
2004-07
期刊：
影响因子：
--
通讯作者：
Y. Fujimoto
中科院分区：
文献类型：
--
作者：
Y. Fujimoto
基于运动方程的数值表示，提出了机器人最优控制的精确和一般形式。我们可以准确地解决最小能耗轨迹的连续运行的运动。通过对五连杆平面并联机器人的数值研究，发现膝关节需要较大的峰值功率和力矩，但消耗功率较小，主要功由髋关节完成。
The exact and general formulation of optimal control for biped robots based on a numerical representation of the motion equation is proposed. We can solve exactly the minimum energy consumption trajectories for a biped running motion. Through the numerical study of a five link planar biped robot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints.