Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen

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https://www.ksp.kit.edu/9783731502562
Author(s)
Bauer, Fabian
Language
German
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Abstract
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.
URI
https://directory.doabooks.org/handle/20.500.12854/55320
Keywords
zweibeinige Roboter dynamisches Gehen numerische Optimierung Energieeffizienz elastische Kopplungbipedal robot dynamic walking numerical optimization energy efficiency elastic coupling
DOI
10.5445/KSP/1000042846
ISBN
9783731502562
Publisher
KIT Scientific Publishing
Publisher website
http://www.ksp.kit.edu/
Publication date and place
2014
Series
Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie,
Classification
Technology: general issues
Pages
XV, 166 p.
Review type
Full text
Anonymity
All identities known
Reviewer type
Editorial board member; External peer reviewer
Review stage
Pre-publication
Open review
No
Publish responsibility
Books or series editor
Rights
https://creativecommons.org/licenses/by-sa/4.0/
https://creativecommons.org/licenses/by-sa/4.0/
Except where otherwise noted, this item's license is described as https://creativecommons.org/licenses/by-sa/4.0/