Show simple item record

dc.contributor.authorRömer, Ulrich Johannes*
dc.date.accessioned2021-02-12T06:46:29Z
dc.date.available2021-02-12T06:46:29Z
dc.date.issued2019*
dc.date.submitted2019-07-30 20:02:01*
dc.identifier35301*
dc.identifier.issn16143914*
dc.identifier.urihttps://directory.doabooks.org/handle/20.500.12854/61447
dc.description.abstractThe 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.languageGerman*
dc.relation.ispartofseriesSchriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie*
dc.subjectT1-995*
dc.subject.otherOptimierung*
dc.subject.otheroptimization*
dc.subject.otherwalking*
dc.subject.otherRegelung*
dc.subject.otherrobotics*
dc.subject.otherBiomechanik*
dc.subject.othercontrol*
dc.subject.otherGehen*
dc.subject.otherbiomechanics*
dc.subject.otherRobotik*
dc.titleÜber den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen*
dc.typebook
oapen.identifier.doi10.5445/KSP/1000089994*
oapen.relation.isPublishedBy68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2*
oapen.relation.isbn9783731508878*
oapen.pagesX, 292 p.*
oapen.volume34*


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record

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/