Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen
Bauer, Fabian
Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen - KIT Scientific Publishing 2014 - 1 electronic resource (XV, 166 p. p.)
Open Access
This work investigates the optimization of bipedal robots’ energy efficiency by using elastic couplings. The regarded robots are modeled as underactuated systems and controlled by input-output linearization. To investigate the influence of elastic couplings on energy efficiency as well as stability and robustness the movements of the robots as well as their elastic couplings are simultaneously optimized using numerical algorithms.
Creative Commons
German
KSP/1000042846 9783731502562
10.5445/KSP/1000042846 doi
zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling
Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen - KIT Scientific Publishing 2014 - 1 electronic resource (XV, 166 p. p.)
Open Access
This work investigates the optimization of bipedal robots’ energy efficiency by using elastic couplings. The regarded robots are modeled as underactuated systems and controlled by input-output linearization. To investigate the influence of elastic couplings on energy efficiency as well as stability and robustness the movements of the robots as well as their elastic couplings are simultaneously optimized using numerical algorithms.
Creative Commons
German
KSP/1000042846 9783731502562
10.5445/KSP/1000042846 doi
zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling