Biped passive walking gait control method based on energetic optimum
An energy-optimized, gait-controlled technology for use in motor vehicles, transportation, and packaging to achieve high energy efficiency
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[0029] Example
[0030] like figure 1 As shown, an energy-optimized bipedal passive walking gait control method, the method includes the following steps:
[0031] Step 1: Establish a model of biped passive walking to describe the process of biped passive walking.
[0032] The model is as image 3 , consisting of two rigid rods of length l hinged together without friction, with joint moments τ at the supporting foot and at the hip joint, respectively a and τ h . The mass of the model is only distributed on the hip joint and the two feet, where the mass of the hip joint is M, and the mass of the foot is m. The inclination angle of the model walking slope is r, if walking on the flat ground, then r=0. The whole walking cycle is as figure 2 shown, starting from the moment the swinging leg is about to leave the ground and both feet are on the ground just after the support foot touches the ground. The support leg then swings forward with the support foot as the center, and ...
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