Design of energy efficient joint profiles for a planar five-link biped robot

  title={Design of energy efficient joint profiles for a planar five-link biped robot},
  author={Quansheng Wu and C. Y. A. Chan},
Joint profiles for a five-link biped, walking on a horizontal surface, are determined using five constraint functions. These constraint functions are designed to constrain the walking speed, support knee bias angle, ce ordination of the motion of the legs, upright posture of the upper body and energy conservation of the bipedal system. It is the first time that an energy Constraint function is used for the design of joint profiles. It is shown that if only the initial potential energy is given… CONTINUE READING

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