Energy-optimal design of walking machines
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Publication:812993
The author discusses the title problem, proposing an efficient control system by incorporating the dynamics of passive walking machines. Considerable attention is given to details of the dynamics and control. With human walking considered to be the most efficient, it is used as a benchwork for evaluating walking machine designs. The paper provides insight into the state-of-the-art of this long-standing subject. The paper should be of interest and use to both theoreticians and designers.
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Cites work
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- Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
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- Legged robots
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- Multibody system dynamics: roots and perspectives
Cited in
(17)- Dynamics and energetics of a class of bipedal walking systems
- Walking of biped with passive exoskeleton: evaluation of energy consumption
- Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms
- Energy profile and the open-loop control of the translational motion of the walking machine Cyclone
- Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots
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- Dynamic modeling, stability, and energy efficiency of a quadrupedal walking machine
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- Power aspects of rheonomic multibody systems
- Design and optimization of a one-degree-of-freedom six-bar leg mechanism for a walking machine
- Optimization of a leg design
- Modeling and stability analysis of controlled passive walking
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- Bipedal walking gait generation based on the sequential method of analytical potential (SMAP)
- Energy efficient walking with central pattern generators: From passive dynamic walking to biologically inspired control
- Task-level approaches for the control of constrained multibody systems
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