Explore
Ueber den Einfluss der Fussgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
0 Ungluers have
Faved this Work
Login to Fave
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.
This book is included in DOAB.
Why read this book? Have your say.
You must be logged in to comment.
Rights Information
Are you the author or publisher of this work? If so, you can claim it as yours by registering as an Unglue.it rights holder.Downloads
This work has been downloaded 62 times via unglue.it ebook links.
- 62 - pdf (CC BY-SA) at Unglue.it.
Keywords
- Biomechanics
- Biomechanik
- Control
- Gehen
- Optimierung
- optimization
- Regelung
- robotics
- Robotik
- Walking
Links
DOI: 10.5445/KSP/1000089994Editions