Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

By:

Römer, Ulrich [VerfasserIn]

Resource type: Ressourcentyp: Buch (Online)Book (Online)Language: German Series: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für TechnologiePublisher: [Erscheinungsort nicht ermittelbar] : KIT Scientific Publishing, 2019Description: 1 Online-Ressource (X, 292 p.)ISBN:

9783731508878

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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 feetPPN: PPN: 1778483682Package identifier: Produktsigel: ZDB-94-OAB

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Creative Commons https://creativecommons.org/licenses/by-sa/4.0 cc

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