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A Study on the Motion Energy of Biped Robot Walking on Different Postures

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Advances in Robotics (FIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

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Abstract

It is interested for a bipedal robot manipulated by different Degree of Freedoms (DoFs) to spend how much motion energy. In this paper, the motion energy of a biped robot influenced by the manipulation of different DoFs is studied. For calculating the motion energy, the forward and inverse kinematics of the designed biped robot are first derived. The 4-3-4 trajectory for planning the movement of robot joints in smoothing is designed for the walking finished by the biped joint movement. Once the joint trajectories of the biped robot are solved, the motion energy including kinetic and potential energy can be calculated. The walking of the biped robot manipulated by 2, 4 and 6 DoFs, respectively, is also included. The study provides the mechanical design of biped robots in the future.

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References

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Author information

Authors and Affiliations

  1. Institute of System Information and Control, National Kaohsiung First University of Science and Technology, 2 Juoyue Rd., Nantsu District, Kaohsiung, 811, Taiwan, R.O.C.

    Kuo-Yang Tu & Mi-Shin Liu

Authors
  1. Kuo-Yang Tu
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  2. Mi-Shin Liu
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Editor information

Editors and Affiliations

  1. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, South Korea

    Jong-Hwan Kim

  2. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Abdullah Al Manum  & 

  4. Technische Universität Dortmund, Germany

    Norbert Jesse

  5. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, P.O. Box, 117576, Singapore

    Sadasivan Puthusserypady K

  6. Institut für Informatik/I12, Technische Universität München, Boltzmannstr. 3,, D-85748, Garching b. München, Germany

    Ulrich Rückert

  7. School of Software Engineering and Data Communications, Queensland University of Technology, P.O. Box, Brisbane, Australia

    Joaquin Sitte

  8. Heinz Nixdorf Institute, University of Paderborn, P.O. Box, Paderborn, Germany

    Ulf Witkowski

  9. Interactive & Digital Media Institute, National University of Singapore, Blk E3A #02-04, 7 Engineering Drive 1, 117574, Singapore

    Ryohei Nakatsu

  10. University of Manitoba, R3T 2N2, Winnipeg, MB, Canada

    Jacky Baltes

  11. Autonomous Agents Laboratory, Department of Computer Science, University of Manitoba, P.O. Box, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  12. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

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© 2009 Springer-Verlag Berlin Heidelberg

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Tu, KY., Liu, MS. (2009). A Study on the Motion Energy of Biped Robot Walking on Different Postures. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_16

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  • DOI: https://doi.org/10.1007/978-3-642-03983-6_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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