By Topic

Basic study on similarity in walking machine from a point of energetic efficiency

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kaneko, M. ; Ministry of International Trade and Industry, Tsukuba Science City, Ibaraki, Japan ; Tachi, S. ; Tanie, K. ; Abe, Minoru

Because of the size of walking machines, scaled-down models having geometrical similarity can be used instead of full-scale models to measure energetic efficiency. First, to cope with this situation, five nondimensional parameters that control energetic efficiency Of walking machines are introduced for nine physical parameters by applying dimensional analysis techniques. Next, in order to check those influences on energetic efficiency, computer simulations are performed for an n-legged walking model. In these simulations, the influence on ground reaction forces is considered to satisfy the approximate balance of forces and moments when an overall walking machine assembly is assumed as a free body. Resultantly, several new facts are acquired from the viewpoint of similarity law.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 1 )