A study on the motion energy of biped robot walking on different postures

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. © 2009 Springer.