Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
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...
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| Main Author: | |
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| Format: | Electronic Book Chapter |
| Published: |
KIT Scientific Publishing
2019
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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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| Summary: | 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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| Physical Description: | 1 electronic resource (X, 292 p. p.) |
| ISBN: | KSP/1000089994 9783731508878 |
| Access: | Open Access |