Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
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. O...
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Superior document: | Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie |
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Year of Publication: | 2019 |
Language: | German |
Series: | Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
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Physical Description: | 1 electronic resource (X, 292 p. p.) |
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100 | 1 | |a Römer, Ulrich Johannes |4 auth | |
245 | 1 | 0 | |a Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen |
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490 | 1 | |a Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie | |
520 | |a 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. | ||
546 | |a German | ||
653 | |a Optimierung | ||
653 | |a optimization | ||
653 | |a walking | ||
653 | |a Regelung | ||
653 | |a robotics | ||
653 | |a Biomechanik | ||
653 | |a control | ||
653 | |a Gehen | ||
653 | |a biomechanics | ||
653 | |a Robotik | ||
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