TY  - GEN
AU  - Bauer,Fabian
TI  - Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen
SN  - KSP/1000042846
PY  - 2014///
PB  - KIT Scientific Publishing
KW  - zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling
N1  - Open Access
N2  - 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
UR  - https://www.ksp.kit.edu/9783731502562
UR  - https://directory.doabooks.org/handle/20.500.12854/55320
ER  -