Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

• Autore: Römer Ulrich Johannes
• Pubblicazione: KIT Scientific Publishing, 2019
• Descrizione fisica: 1 electronic resource (X, 292 p. p.)
• Soggetto non controllato: Optimierung; optimization; walking; Regelung; robotics; Biomechanik; control; Gehen; biomechanics; Robotik
• Sommario/riassunto: 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.
• Titolo autorizzato: Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen
• ISBN: 1000089994
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Tedesco
• Record Nr.: 9910346947503321
• Lo trovi qui: Univ. Federico II