Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
Overview & Synopsis
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.
Indexed from repository: Directory of Open Access Books
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www.doabooks.org)
Document Information
| Document Title | Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen |
|---|---|
| Author / Organization | Römer, Ulrich Johannes |
| Subject & Discipline | T1-995 |
| Categories | Open Access Books |
| Publication Year | 2021 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
Directory of Open Access Books
(www.doabooks.org)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-115565 |
| Original Source Link | Visit Source Page on www.doabooks.org » |