Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen

• Main Author: Bauer, Fabian (auth)
• Format: Electronic Book Chapter
• Published: KIT Scientific Publishing 2014
• Series: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
• Subjects: Technology: general issues; zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling
• Online Access: DOAB: download the publication; DOAB: description of the publication

This work investigates the optimization of bipedal robots’ energy efficiency by using elastic couplings. The regarded robots are modeled as underactuated systems and controlled by input-output linearization. To investigate the influence of elastic couplings on energy efficiency as well as stability...