Title :
Constant pelvis height ZMP-based walking: A study on energy consumption during walking
Author :
Amran, Aliza Che ; Ali, Fariz ; Kawamura, Atsuo
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan
Abstract :
Researchers introduced a constant center of mass walking, mainly to solve the ZMP equations analytically for center of mass trajectories in the x and y directions (case 1). In this paper, case 2 proposes that if pelvis is made constant instead, energy usage could be reduced particularly at the leg joints. CoM-based kinematics methods are used to realize each case. Walking simulations of 0.22km/h are utilized for observations. In the simulation results, case 2 consumed almost 12% less in total energy consumption (electrical and mechanical) compared to case 1.
Keywords :
energy consumption; legged locomotion; CoM-based kinematics; ZMP equations; center of mass trajectories; center of mass walking; constant pelvis height ZMP-based walking; energy consumption; energy usage; leg joints; Equations; Foot; Joints; Leg; Legged locomotion; Mathematical model; Trajectory; Biped robot; ZMP-based walking; energy consumption;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
