TY  - GEN
AU  - Römer,Ulrich Johannes
TI  - Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
SN  - KSP/1000089994
PY  - 2019///
PB  - KIT Scientific Publishing
KW  - Optimierung
KW  - optimization
KW  - walking
KW  - Regelung
KW  - robotics
KW  - Biomechanik
KW  - control
KW  - Gehen
KW  - biomechanics
KW  - Robotik
N1  - Open Access
N2  - 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
UR  - https://www.ksp.kit.edu/9783731508878
UR  - https://directory.doabooks.org/handle/20.500.12854/61447
ER  -