Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen

• Autor principal: Bauer, Fabian (auth)
• Formato: Electrónico Capítulo de libro
• Publicado: KIT Scientific Publishing 2014
• Colección: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
• Materias: Technology: general issues; zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling
• Acceso en línea: DOAB: download the publication; DOAB: description of the publication

Sumario

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 and robustness the movements of the robots as well as their elastic couplings are simultaneously optimized using numerical algorithms.

Descripción Física

1 electronic resource (XV, 166 p. p.)

ISBN

KSP/1000042846
9783731502562

Acceso

Open Access