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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| Format: | Electronic Book Chapter |
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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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| 020 | |a KSP/1000089994 | ||
| 020 | |a 9783731508878 | ||
| 040 | |a oapen |c oapen | ||
| 024 | 7 | |a 10.5445/KSP/1000089994 |c doi | |
| 041 | 0 | |a deu | |
| 042 | |a dc | ||
| 072 | 7 | |a TB |2 bicssc | |
| 100 | 1 | |a Römer, Ulrich Johannes |4 auth | |
| 245 | 1 | 0 | |a Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen |
| 260 | |b KIT Scientific Publishing |c 2019 | ||
| 300 | |a 1 electronic resource (X, 292 p. p.) | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 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 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. | ||
| 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 Optimierung | ||
| 653 | |a optimization | ||
| 653 | |a walking | ||
| 653 | |a Regelung | ||
| 653 | |a robotics | ||
| 653 | |a Biomechanik | ||
| 653 | |a control | ||
| 653 | |a Gehen | ||
| 653 | |a biomechanics | ||
| 653 | |a Robotik | ||
| 856 | 4 | 0 | |a www.oapen.org |u https://www.ksp.kit.edu/9783731508878 |7 0 |z DOAB: download the publication |
| 856 | 4 | 0 | |a www.oapen.org |u https://directory.doabooks.org/handle/20.500.12854/61447 |7 0 |z DOAB: description of the publication |