Figures 3.9, 3.11 and 3.12 give (depending on the average forward velocity indicated in the abscissa) the energy consumption per meter traveled, divided by the robot’s average forward velocity when the gait has been stabilized. The length of the steps, depending on the average forward velocity, is shown in Figure 3.10. Figures
3.13–3.16 give the average and maximum necessary powers at actuator level, depending on the forward velocity, the Joule losses and the mechanical friction losses which are not taken into consideration in these simulations. We will now comment on the above curves.
.: Weblog Themes By Pichak :.