Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
Römer, Ulrich Johannes
Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen - KIT Scientific Publishing 2019 - 1 electronic resource (X, 292 p. p.)
Open Access
The influence of foot geometry on energy efficiency in bipedal walking is investigated. A method for the optimization of the foot geometry of a bipedal robot is developed. It is based on a planar model with arbitrary convex foot geometry in combination with a hybrid zero dynamics based controller. Optimal gaits and foot geometries are determined. The average energy consumption can be reduced by more than 80% compared to a model with point feet.
Creative Commons
German
KSP/1000089994 9783731508878
10.5445/KSP/1000089994 doi
Optimierung optimization walking Regelung robotics Biomechanik control Gehen biomechanics Robotik
Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen - KIT Scientific Publishing 2019 - 1 electronic resource (X, 292 p. p.)
Open Access
The influence of foot geometry on energy efficiency in bipedal walking is investigated. A method for the optimization of the foot geometry of a bipedal robot is developed. It is based on a planar model with arbitrary convex foot geometry in combination with a hybrid zero dynamics based controller. Optimal gaits and foot geometries are determined. The average energy consumption can be reduced by more than 80% compared to a model with point feet.
Creative Commons
German
KSP/1000089994 9783731508878
10.5445/KSP/1000089994 doi
Optimierung optimization walking Regelung robotics Biomechanik control Gehen biomechanics Robotik