The optimum distribution of driving forces and momenta of walking apparatus with three-part limbs

Abstract

General dynamics equations (DE) of walking apparatus (WA) with three-part limbs (TPL) have been suggested. Formulas for calculating dynamic reactions in fulcrums devices have been derived. For (WA) in three-fulcrum condition six generalized driving forces (GDF) of the parts of fulcrum TPL (FTPL) three-part limbs have been expressed through the remaining three GDF generalized driving forces of these fulcrum three-part (FTP) limbs. Formulas for calculating GDF the generalized driving
forces of the parts of fulcrum three-part limbs FTP minimizing the quadratic (the rest of GDF) quality criterion have been obtained. An example has been given.