Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen
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...
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| Format: | Electronic Book Chapter |
| Published: |
KIT Scientific Publishing
2014
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| Series: | Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
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| Subjects: | |
| Online Access: | DOAB: download the publication DOAB: description of the publication |
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| 020 | |a 9783731502562 | ||
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| 100 | 1 | |a Bauer, Fabian |4 auth | |
| 245 | 1 | 0 | |a Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen |
| 260 | |b KIT Scientific Publishing |c 2014 | ||
| 300 | |a 1 electronic resource (XV, 166 p. p.) | ||
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| 338 | |a online resource |b cr |2 rdacarrier | ||
| 490 | 1 | |a Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie | |
| 506 | 0 | |a Open Access |2 star |f Unrestricted online access | |
| 520 | |a 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. | ||
| 540 | |a Creative Commons |f https://creativecommons.org/licenses/by-sa/4.0/ |2 cc |4 https://creativecommons.org/licenses/by-sa/4.0/ | ||
| 546 | |a German | ||
| 650 | 7 | |a Technology: general issues |2 bicssc | |
| 653 | |a zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling | ||
| 856 | 4 | 0 | |a www.oapen.org |u https://www.ksp.kit.edu/9783731502562 |7 0 |z DOAB: download the publication |
| 856 | 4 | 0 | |a www.oapen.org |u https://directory.doabooks.org/handle/20.500.12854/55320 |7 0 |z DOAB: description of the publication |