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Proceedings Paper

Pendulum walker
Author(s): Paul Muench; Alexander Marecki
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Paper 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.

Paper Details

Date Published: 2 May 2007
PDF: 12 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 656118 (2 May 2007); doi: 10.1117/12.719762
Show Author Affiliations
Paul Muench, U.S. Army RDECOM/TARDEC (United States)
Alexander Marecki, U.S. Army RDECOM/TARDEC (United States)


Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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