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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| Formato: | Libro electrónico |
| Idioma: | Alemán |
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KIT Scientific Publishing
2019
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| Colección: | Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
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| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009424848306719 |
| Sumario: | 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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| Descripción Física: | 1 electronic resource (X, 292 p. p.) |
