Simulation of power consumption for walking robot

摘要

Simulation of power consumption for biped walking robot is one of the way to preliminary estimate the energy that will be consumed by walking robot before constructing the real biped walking robot. In the considered work, the object of the research is the five-link planar electromechanical biped walking robot. Purpose of the given work consists in development and improvement of methods of estimation of power consumption for walking robots and creation of the appropriate software with visualization of researched process of walking (gait). Criterion of optimization is the minimum of electromechanical work. The considered work is the continuation of Martynenko and Siregar (2002). For research of power consumption in walking of considered biped walking robot, methods of the theoretical mechanics, the theory of optimization, the theory of the ordinary differential equations, numerical method and simulation of computer visualization are used.