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Ueber den Einfluss der Fussgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
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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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Keywords
- Biomechanics
- Biomechanik
- Control
- Gehen
- Optimierung
- optimization
- Regelung
- robotics
- Robotik
- Walking
Links
DOI: 10.5445/KSP/1000089994Editions