%0 Journal Article
%T Gait control based on energy-efficiency optimization for biped robots<br>基于能效优化的两足机器人步态控制方法
%A WANG Li-Yang
%A LIU Zhi
%A ZENG Xiao-jie
%A ZHANG Yun
%A <br>王丽杨
%A 刘治
%A 曾小杰
%A 章云
%J 控制理论与应用
%D 2011
%I 
%X A gait control based on energy-efficiency optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots. A strategy of energy consumption estimation(ECE) and an algorithm of energy-efficiency optimization are proposed based on three important indices of energy consumption for biped locomotion average mechanical power, mean power derivation and mean torque consumption. Controlling the gait of the robot along the trunk trajectory which corresponds to the minimal energy consumption in the zero moment point(ZMP) stability domain, we obtain the energy-efficiency gait guaranteeing the ZMP criterion. Simulation results show the validity of the method.
%K energy efficiency
%K biped robot
%K zero moment point
%K gait control<br>能量效率
%K 两足机器人
%K 零力矩点
%K 步态控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=5704D2E38E2B920FAA58521FC4A5693D&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=94C357A881DFC066&sid=06DAE5E1DF7D0B6A&eid=8B1FE194AD66DC3D&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=21