Qi Yuanyang.Gait Planning and the Cost of Transport of Biped Walking[J].Journal of International Education and Development,2022,06(09):42-47.
DOI:
Qi Yuanyang.Gait Planning and the Cost of Transport of Biped Walking[J].Journal of International Education and Development,2022,06(09):42-47. DOI: 10.47297/wspiedWSP2516-250008.20220609.
Gait Planning and the Cost of Transport of Biped Walking
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摘要
Abstract
The study aims to build an accurate biped model
design a suitable controller and analyze the cost of transport of biped walking. A three-mass model restricted to moving in a two-dimensional plane using PID controller and gait planning was established as the dynamic model based on the Lagrange equation. And a calculation method of robot energy consumption based on impulse is proposed to analyze the cost of transport. Some indexes such as stability
the cost of transport and so on are used to compare two controllers: using PID controller only and both using PID controller and gait planning. External perturbations are forced to verify robustness. The simulation results indicate that the robot stabilizes more quickly and consumed less energy when both using PID controller and gait planning than using PID controller only. In addition
the robot has certain adaptability to external disturbance.
关键词
Keywords
Lagrange equationPIDGait planningCost of transport
references
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