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Tham khảo tài liệu 'humanoid robots - new developments part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Minimum Energy Trajectory Planning for Biped Robots 237 big for real robots the introduction of the energy regeneration mechanism such as elastic actuators or combination of high back-drivable actuators and bidirectional power converters is effective to reduce the total consumption power. a hip joint b knee joint. Fig. 3. Joint angles solid line right leg dashed line left leg . a hip joint b knee joint. a hip joint Fig. 5. Joint torques solid line right leg dashed line left leg . Fig. 4. Angular velocities of joints solid line right leg dashed line left leg . b knee joint. 238 Humanoid Robots New Developments 6. Conclusion In this chapter the method to generate a trajectory of a running motion with minimum energy consumption is proposed. It is useful to know the lower bound of the consumption energy when we design the bipedal robot and select actuators. The exact and general formulation of optimal control for biped robots based on numerical representation of motion equation is proposed to solve exactly the minimum energy consumption trajectories. Through the numerical study of a five link planar biped robot it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints. 8. References Fujimoto Y. Kawamura A. 1995 . Three Dimensional Digital Simulation and Autonomous Walking Control for Eight-axis Biped Robot Proceedings of IEEE Minimum Energy Trajectory Planning for Biped Robots 239 International Conference on Robotics and Automation pp. 2877-2884 0-7803-1965-6 Nagoya May 1995 IEEE New York Fujimoto Y. Kawamura A. 1998 . Simulation of an Autonomous Biped Walking Robot Including Environmental Force Interaction IEEE Robotics and Automation Magazine Vol. 5 No. 2 June 1998 pp. 33-42 1070-9932 Goswami A. 1999 . Foot-Rotation Indicator FRI Point A New Gait Planning Tool to Evaluate Postural Stability of Biped Robot Proceedings of IEEE International Conference on Robotics and .
