Efficiency analysis of 2-period dynamic bipdal gaits

@article{Asano2009EfficiencyAO,
  title={Efficiency analysis of 2-period dynamic bipdal gaits},
  author={Fumihiko Asano},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={173-180}
}
This paper investigates the efficiency of a 2-period gait from the kinetic energy view-point. First, we formulate a steady 2-period gait for a compass-like bipedal robot by using a simple recurrence formula for the kinetic energy of an asymmetric rimless wheel. Second, we theoretically show that, in the case that the mean value of the hip angle is constant, the generated 2-period steady gait is less efficient than a 1-period symmetric one in terms of kinetic energy. We also show that the… CONTINUE READING
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