Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

• Autor principal: Römer, Ulrich Johannes (auth)
• Formato: Recurso Electrónico Capítulo de Livro
• Publicado em: KIT Scientific Publishing 2019
• Colecção: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie
• Assuntos: Technology: general issues; Optimierung; optimization; walking; Regelung; robotics; Biomechanik; control; Gehen; biomechanics; Robotik
• Acesso em linha: DOAB: download the publication; DOAB: description of the publication

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. O...