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...
में बचाया:
| मुख्य लेखक: | |
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| स्वरूप: | Online |
| भाषा: | जर्मन |
| प्रकाशित: |
KIT Scientific Publishing
2021
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| विषय: | |
| ऑनलाइन पहुंच: | 35301 |
| टैग: |
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| सारांश: | 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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