Pendulum Walker

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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 11, 2007
Accession Number
ADA472148

Entities

People

  • Alexander Marecki
  • Paul Muench

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Collisions
  • Computer Programming
  • Control Theory
  • Coordinate Systems
  • Dynamic Programming
  • Dynamics
  • Energy
  • Energy Levels
  • Equations
  • Kinetic Energy
  • Numbers
  • Pendulums
  • Potential Energy
  • Travel Time
  • Unmanned Systems

Fields of Study

  • Computer science

Readers

  • Control Systems Engineering.
  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Geodesy