A study on motion energy of humanoid robot in different walking gaits or postures

Abstract

It is worthy to study the motion energy of humanoid robots, but it is not easy to calculate for their complicated dynamics. In this study, the trajectories of voltage and current used in walking are stored to calculate actual motion energy for comparing the humanoid robot in different walking gait. Four walking gaits, covering the situation of humanoid robot walking are selected to compare their motion energy. After sorting the walking gait of wasting least motion energy based on experiments, we focus on the study of motion energy influenced by walking gait parameters including pace length, pace height and body location. In addition, a proper experiment is designed to study the energy wasted by humanoid robot join friction. The energy is compared with the walking energy to understand whether it is reasonable that the humanoid robot dynamics often neglect friction force or not.