Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

By: Material type: ArticleArticleLanguage: German Publication details: KIT Scientific Publishing 2019Description: 1 electronic resource (X, 292 p. p.)ISBN:
  • KSP/1000089994
  • 9783731508878
Subject(s): Online resources: Summary: 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.
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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 https://creativecommons.org/licenses/by-sa/4.0/ cc https://creativecommons.org/licenses/by-sa/4.0/

German

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