Pendulum walker

Paul Muench; Alexander Marecki

doi:10.1117/12.719762

2 May 2007 Pendulum walker

Paul Muench, Alexander Marecki

Proceedings Volume 6561, Unmanned Systems Technology IX; 656118 (2007) https://doi.org/10.1117/12.719762
Event: Defense and Security Symposium, 2007, Orlando, Florida, United States

Abstract

Picture someone walking from left to right. During one step (intra-step) we treat them as a simple pendulum. This model is called the rimless wheel in the literature. We analyze this model intra-step using dynamic programming to find the optimum energy profile based on time and energy cost. We then analyze the problem inter-step for the ideal stepsize based on time cost alone, i.e., without foot collision (energy) losses.

Citation Download Citation

Paul Muench and Alexander Marecki "Pendulum walker", Proc. SPIE 6561, Unmanned Systems Technology IX, 656118 (2 May 2007); https://doi.org/10.1117/12.719762

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