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- W4386871502 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." @default.
- W4386871502 created "2023-09-20" @default.
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- W4386871502 date "2022-01-01" @default.
- W4386871502 modified "2023-09-27" @default.
- W4386871502 title "Gait Planning and the Cost of Transport of Biped Walking" @default.
- W4386871502 doi "https://doi.org/10.47297/wspiedwsp2516-250008.20220609" @default.
- W4386871502 hasPublicationYear "2022" @default.
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