Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

dc.contributor.author	Römer, Ulrich Johannes	*
dc.date.accessioned	2021-02-12T06:46:29Z
dc.date.available	2021-02-12T06:46:29Z
dc.date.issued	2019	*
dc.date.submitted	2019-07-30 20:02:01	*
dc.identifier	35301	*
dc.identifier.issn	16143914	*
dc.identifier.uri	https://directory.doabooks.org/handle/20.500.12854/61447
dc.description.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.	*
dc.language	German	*
dc.relation.ispartofseries	Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie	*
dc.subject	T1-995	*
dc.subject.other	Optimierung	*
dc.subject.other	optimization	*
dc.subject.other	walking	*
dc.subject.other	Regelung	*
dc.subject.other	robotics	*
dc.subject.other	Biomechanik	*
dc.subject.other	control	*
dc.subject.other	Gehen	*
dc.subject.other	biomechanics	*
dc.subject.other	Robotik	*
dc.title	Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen	*
dc.type	book
oapen.identifier.doi	10.5445/KSP/1000089994	*
oapen.relation.isPublishedBy	68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2	*
oapen.relation.isbn	9783731508878	*
oapen.pages	X, 292 p.	*
oapen.volume	34	*

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