东南大学学报（自然科学版）2013，Vol.43Issue(z1)：112-115,4.DOI:10.3969/j.issn.1001-0505.2013.S1.024
被动行走中躯干对能量效率的影响
Effect of torso on energy efficiency in passive dynamic walking
摘要
Abstract
Aiming at the passive dynamic walking of the biped robot with a torso,the effect of the torso on biped walking is studied.Two simulation models of passive dynamic walking robot with a torso arc established using Matlab.One model has leg mass while the other one's leg is mass-less.The effects of the torso weight and torso length on the walking energy efficiency are researched.Also,the results of both models are compared with those of models without a torso.The research shows that,at the same walking speed,the robot without a torso uses less energy than that of the robot with a torso,and the robot with a lighter and shorter torso consumes less energy.In a word,the torso is not good for the energy efficiency in the biped dynamic walking.关键词
双足机器人/躯干/被动行走/能量效率Key words
biped robot/ torso/ passive dynamic walking/ energy efficiency分类
信息技术与安全科学引用本文复制引用
冯帅,刘凯..被动行走中躯干对能量效率的影响[J].东南大学学报（自然科学版）,2013,43(z1):112-115,4.
