Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

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. O...

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Bibliographic Details

Main Author:	Römer, Ulrich Johannes
Format:	Online
Language:	German
Published:	KIT Scientific Publishing 2021
Subjects:	T1-995 Optimierung optimization walking Regelung robotics Biomechanik control Gehen biomechanics Robotik thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TB Technology: general issues
Online Access:	35301
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