A Study on Motion Energy of Humanoid Robot in Different Walking Gait or Posture

[[abstract]]仿人型機器人運動能量是一個值得探討的課題，本研究探討仿人型機器人步態軌跡對其步行能量的影響，首先擬定四種較具代表性的軌跡，經由實驗量測仿人型機器人行走時的電壓與電流，計算並比較其實際消耗能量，在歸納消耗最少能量的步態軌跡後，針對此軌跡實驗比較各種步態參數所消耗能量，比較的參數包括步伐長度、步行時臀部高度、與重心前後；此外還設計一適當實驗，用以探討關節摩擦力所消耗能量，在其步行能量所佔比率，以便瞭解一般推導仿人型機器人動力學時，忽略摩擦力的合理性。[[abstract]]It is worthy to study the motion energy of humanoid robots but it is not easy to calculate for their complicated dynamics In this study the trajectories of voltage and current used in walking are stored to calculate actual motion energy for comparing the humanoid robot in different walking gait Four walking gaits covering the situation of humanoid robot walking are selected to compare their motion energy After sorting the walking gait of wasting least motion energy based on experiments we focus on the study of motion energy influenced by walking gait parameters including pace length pace height and body location In addition a proper experiment is designed to study the energy wasted by humanoid robot join friction The energy is compared with the walking energy to understand whether it is reasonable that the humanoid robot dynamics often neglect friction force or no