Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

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https://www.ksp.kit.edu/9783731508878
Author(s)
Römer, Ulrich Johannes
Language
German
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Abstract
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.
URI
https://directory.doabooks.org/handle/20.500.12854/61447
Keywords
Optimierung; optimization; walking; Regelung; robotics; Biomechanik; control; Gehen; biomechanics; Robotik
DOI
10.5445/KSP/1000089994
ISBN
9783731508878
Publisher
KIT Scientific Publishing
Publisher website
http://www.ksp.kit.edu/
Publication date and place
2019
Series
Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie,
Classification
Technology: general issues
Pages
X, 292 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/