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Record Nr. |
UNINA9910346947503321 |
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Autore |
Römer Ulrich Johannes |
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Titolo |
Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen |
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Pubbl/distr/stampa |
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KIT Scientific Publishing, 2019 |
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ISBN |
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Descrizione fisica |
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1 electronic resource (X, 292 p. p.) |
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Collana |
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Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Sommario/riassunto |
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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. |
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