TY - GEN
T1 - Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability
AU - Huang, Yan
AU - Wang, Qining
AU - Xie, Guangming
AU - Wang, Long
PY - 2008
Y1 - 2008
N2 - This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the Simplest Walking Model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by Particle Swarm Optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.
AB - This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the Simplest Walking Model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by Particle Swarm Optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.
UR - http://www.scopus.com/inward/record.url?scp=63549126923&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2008.4756006
DO - 10.1109/ICHR.2008.4756006
M3 - Conference contribution
AN - SCOPUS:63549126923
SN - 9781424428229
T3 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
SP - 515
EP - 520
BT - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
T2 - 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
Y2 - 1 December 2008 through 3 December 2008
ER -