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首页> 外文会议>International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines >TRANSITION FROM WALKING TO RUNNING OF A BIPEDAL ROBOT TO OPTIMIZE ENERGY EFFICIENCY
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TRANSITION FROM WALKING TO RUNNING OF A BIPEDAL ROBOT TO OPTIMIZE ENERGY EFFICIENCY

机译：从行走到跑步的双模型机器人来优化能源效率

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摘要

The transition from walking to running gaits in bipedal locomotion is well known from humans. One explanation for this transition is a higher energy efficiency of running gaits at higher velocities. In this paper we use a five-link planar model of a robot to investigate the transition from walking to running based on energy efficiency. For this purpose a physically motivated cost function regarding static as well as dynamic costs is introduced. Periodic walking and running gaits are generated by means of numerical optimization to find the optimal gait of a human-like model in a range from 1.5 to 2.5 m/s. At the transition velocity walking and running require the same cost. Both gaits are investigated to identify the underlying mechanisms. The computed results correspond very well to reports from biomechanics which indicates that the model is suitable for the investigation of human locomotion as well as the generation of optimal gaits for humanoid robots.
机译：从人类众所周知，从步行到跑步机的过渡到双面运动中众所周知。这种转变的一个解释是在更高速度下运行Gaits的更高能量效率。在本文中，我们使用一个机器人的五个链路平面模型来研究基于能效的步行到运行的过渡。为此目的，介绍了关于静态以及动态成本的物理动机成本函数。通过数值优化产生周期性的行走和运行Gaits，以找到1.5至2.5 m / s的人类型号的最佳步态。在过渡速度行走和运行需要相同的成本。调查了Gaits以识别潜在机制。计算结果非常符合生物力学的报告，这表明该模型适用于人体运动的调查以及人形机器人的最佳Gaits的产生。

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